exampleEDTOctomap.cpp
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1 
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37 
39 
40 #include <iostream>
41 
42 
43 
44 int main( int argc, char *argv[] ) {
45  if(argc<=1){
46  std::cout<<"usage: "<<argv[0]<<" <octoMap.bt>"<<std::endl;
47  exit(0);
48  }
49 
50  octomap::OcTree *tree = NULL;
51  tree = new octomap::OcTree(0.05);
52 
53  //read in octotree
54  tree->readBinary(argv[1]);
55 
56  std::cout<<"read in tree, "<<tree->getNumLeafNodes()<<" leaves "<<std::endl;
57 
58  double x,y,z;
59  tree->getMetricMin(x,y,z);
60  octomap::point3d min(x,y,z);
61  //std::cout<<"Metric min: "<<x<<","<<y<<","<<z<<std::endl;
62  tree->getMetricMax(x,y,z);
63  octomap::point3d max(x,y,z);
64  //std::cout<<"Metric max: "<<x<<","<<y<<","<<z<<std::endl;
65 
66  bool unknownAsOccupied = true;
67  unknownAsOccupied = false;
68  float maxDist = 1.0;
69  //- the first argument ist the max distance at which distance computations are clamped
70  //- the second argument is the octomap
71  //- arguments 3 and 4 can be used to restrict the distance map to a subarea
72  //- argument 5 defines whether unknown space is treated as occupied or free
73  //The constructor copies data but does not yet compute the distance map
74  DynamicEDTOctomap distmap(maxDist, tree, min, max, unknownAsOccupied);
75 
76  //This computes the distance map
77  distmap.update();
78 
79  //This is how you can query the map
80  octomap::point3d p(5.0,5.0,0.6);
81  //As we don't know what the dimension of the loaded map are, we modify this point
82  p.x() = min.x() + 0.3 * (max.x() - min.x());
83  p.y() = min.y() + 0.6 * (max.y() - min.y());
84  p.z() = min.z() + 0.5 * (max.z() - min.z());
85 
86  octomap::point3d closestObst;
87  float distance;
88 
89  distmap.getDistanceAndClosestObstacle(p, distance, closestObst);
90 
91  std::cout<<"\n\ndistance at point "<<p.x()<<","<<p.y()<<","<<p.z()<<" is "<<distance<<std::endl;
92  if(distance < distmap.getMaxDist())
93  std::cout<<"closest obstacle to "<<p.x()<<","<<p.y()<<","<<p.z()<<" is at "<<closestObst.x()<<","<<closestObst.y()<<","<<closestObst.z()<<std::endl;
94 
95  //if you modify the octree via tree->insertScan() or tree->updateNode()
96  //just call distmap.update() again to adapt the distance map to the changes made
97 
98  delete tree;
99 
100  return 0;
101 }
A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap.
float getMaxDist() const
retrieve maximum distance value
int main(int argc, char *argv[])
virtual void getMetricMin(double &x, double &y, double &z)
void getDistanceAndClosestObstacle(const octomap::point3d &p, float &distance, octomap::point3d &closestObstacle) const
virtual void update(bool updateRealDist=true)
virtual void getMetricMax(double &x, double &y, double &z)
bool readBinary(std::istream &s)


dynamicEDT3D
Author(s): Christoph Sprunk
autogenerated on Mon Jun 10 2019 14:00:23