OcTreeContact.h

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// -*- mode: c++ -*-
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#ifndef OCTOMAP_OCTREECONTACT_H_
#define OCTOMAP_OCTREECONTACT_H_


#include <octomap/OcTree.h>

namespace octomap {
  class OcTreeContact : public OcTree
  {
   public:
     inline bool isNodeFree(const OcTreeNode* occupancy_node) const {
       return (occupancy_node->getLogOdds() <= free_prob_thres_log_);
     }
     inline bool isNodeFree(const OcTreeNode& occupancy_node) const {
       return (occupancy_node.getLogOdds() <= free_prob_thres_log_);
     }
     inline bool isNodeUnknown(const OcTreeNode* occupancy_node) const {
       return (!isNodeOccupied(occupancy_node) and !isNodeFree(occupancy_node));
     }
     inline bool isNodeUnknown(const OcTreeNode& occupancy_node) const {
       return (!isNodeOccupied(occupancy_node) and !isNodeFree(occupancy_node));
     }

     void setFreeThres(double prob) { free_prob_thres_log_ = logodds(prob); }
     void setProbHitContactSensor(double prob) { prob_hit_contact_sensor_log_ = logodds(prob); }
     void setProbMissContactSensor(double prob) { prob_miss_contact_sensor_log_ = logodds(prob); }

     double getFreeThres() const { return probability(free_prob_thres_log_); }
     float getFreeThresLog() const { return free_prob_thres_log_; }

     double getProbHitContactSensor() const { return probability(prob_hit_contact_sensor_log_); }
     float getProbHitContactSensorLog() const { return prob_hit_contact_sensor_log_; }
     double getProbMissContactSensor() const { return probability(prob_miss_contact_sensor_log_); }
     float getProbMissContactSensorLog() const { return prob_miss_contact_sensor_log_; }

     float prob_hit_contact_sensor_log_;
     float prob_miss_contact_sensor_log_;
     float free_prob_thres_log_;

     OcTreeContact(double resolution) : OcTree(resolution)
     {
       setOccupancyThres(0.7);   // = 0.0 in logodds
       setFreeThres(0.3);   // = 0.0 in logodds
       setProbMiss(0.2);         // = -0.4 in logodds
       setProbHitContactSensor(0.7);
       setProbMissContactSensor(0.1);
     }
   };
} // end namespace

#endif