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double | getFreeThres () const |
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float | getFreeThresLog () const |
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double | getProbHitContactSensor () const |
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float | getProbHitContactSensorLog () const |
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double | getProbMissContactSensor () const |
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float | getProbMissContactSensorLog () const |
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bool | isNodeFree (const OcTreeNode *occupancy_node) const |
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bool | isNodeFree (const OcTreeNode &occupancy_node) const |
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bool | isNodeUnknown (const OcTreeNode *occupancy_node) const |
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bool | isNodeUnknown (const OcTreeNode &occupancy_node) const |
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| OcTreeContact (double resolution) |
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void | setFreeThres (double prob) |
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void | setProbHitContactSensor (double prob) |
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void | setProbMissContactSensor (double prob) |
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OcTree * | create () const |
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std::string | getTreeType () const |
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| OcTree (std::string _filename) |
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| OcTree (double resolution) |
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virtual | ~OcTree () |
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bool | bbxSet () const |
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virtual bool | castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
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KeyBoolMap::const_iterator | changedKeysBegin () const |
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KeyBoolMap::const_iterator | changedKeysEnd () const |
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void | computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
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void | computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
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void | enableChangeDetection (bool enable) |
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point3d | getBBXBounds () const |
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point3d | getBBXCenter () const |
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point3d | getBBXMax () const |
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point3d | getBBXMin () const |
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bool | getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const |
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virtual bool | getRayIntersection (const point3d &origin, const point3d &direction, const point3d ¢er, point3d &intersection, double delta=0.0) const |
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bool | inBBX (const point3d &p) const |
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bool | inBBX (const OcTreeKey &key) const |
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virtual void | insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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virtual void | insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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virtual void | insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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virtual void | insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false) |
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virtual bool | insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false) |
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virtual void | integrateHit (OcTreeNode *occupancyNode) const |
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virtual void | integrateMiss (OcTreeNode *occupancyNode) const |
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bool | isChangeDetectionEnabled () const |
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virtual void | nodeToMaxLikelihood (OcTreeNode *occupancyNode) const |
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virtual void | nodeToMaxLikelihood (OcTreeNode &occupancyNode) const |
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size_t | numChangesDetected () const |
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| OccupancyOcTreeBase (double resolution) |
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| OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNode > &rhs) |
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| OCTOMAP_DEPRECATED (virtual void insertScanNaive(const Pointcloud &scan, const point3d &sensor_origin, double maxrange, bool lazy_eval=false)) |
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| OCTOMAP_DEPRECATED (virtual void insertScan(const ScanNode &scan, double maxrange=-1., bool pruning=true, bool lazy_eval=false)) |
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| OCTOMAP_DEPRECATED (virtual void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)) |
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| OCTOMAP_DEPRECATED (virtual void insertScan(const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)) |
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std::istream & | readBinaryData (std::istream &s) |
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std::istream & | readBinaryNode (std::istream &s, OcTreeNode *node) const |
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void | resetChangeDetection () |
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void | setBBXMax (point3d &max) |
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void | setBBXMin (point3d &min) |
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virtual OcTreeNode * | setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false) |
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virtual OcTreeNode * | setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false) |
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virtual OcTreeNode * | setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false) |
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virtual void | toMaxLikelihood () |
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void | updateInnerOccupancy () |
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virtual OcTreeNode * | updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false) |
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virtual OcTreeNode * | updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false) |
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virtual OcTreeNode * | updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false) |
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virtual OcTreeNode * | updateNode (const point3d &value, bool occupied, bool lazy_eval=false) |
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virtual OcTreeNode * | updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false) |
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virtual OcTreeNode * | updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false) |
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virtual void | updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const |
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void | useBBXLimit (bool enable) |
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std::ostream & | writeBinaryData (std::ostream &s) const |
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std::ostream & | writeBinaryNode (std::ostream &s, const OcTreeNode *node) const |
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virtual | ~OccupancyOcTreeBase () |
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OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
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unsigned short int | adjustKeyAtDepth (unsigned short int key, unsigned int depth) const |
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iterator | begin (unsigned char maxDepth=0) const |
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leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
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leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
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leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
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tree_iterator | begin_tree (unsigned char maxDepth=0) const |
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size_t | calcNumNodes () const |
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void | clear () |
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bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
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bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
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OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
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OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
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unsigned short int | coordToKey (double coordinate) const |
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unsigned short int | coordToKey (double coordinate, unsigned depth) const |
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OcTreeKey | coordToKey (const point3d &coord) const |
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OcTreeKey | coordToKey (double x, double y, double z) const |
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bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
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bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
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bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
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bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
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bool | coordToKeyChecked (double coordinate, unsigned short int &key) const |
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bool | coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const |
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bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
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bool | deleteNode (const point3d &value, unsigned int depth=0) |
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bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
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const iterator | end () const |
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const leaf_iterator | end_leafs () const |
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const leaf_bbx_iterator | end_leafs_bbx () const |
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const tree_iterator | end_tree () const |
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virtual void | expand () |
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virtual void | getMetricMax (double &x, double &y, double &z) |
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void | getMetricMax (double &x, double &y, double &z) const |
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virtual void | getMetricMin (double &x, double &y, double &z) |
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void | getMetricMin (double &x, double &y, double &z) const |
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virtual void | getMetricSize (double &x, double &y, double &z) |
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virtual void | getMetricSize (double &x, double &y, double &z) const |
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double | getNodeSize (unsigned depth) const |
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size_t | getNumLeafNodes () const |
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double | getResolution () const |
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OcTreeNode * | getRoot () const |
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unsigned int | getTreeDepth () const |
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std::string | getTreeType () const |
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void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
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point3d | keyToCoord (const OcTreeKey &key) const |
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double | keyToCoord (unsigned short int key, unsigned depth) const |
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double | keyToCoord (unsigned short int key) const |
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point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
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unsigned long long | memoryFullGrid () const |
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virtual size_t | memoryUsage () const |
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virtual size_t | memoryUsageNode () const |
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| OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) |
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| OcTreeBaseImpl (double resolution) |
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bool | operator== (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) const |
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virtual void | prune () |
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std::istream & | readData (std::istream &s) |
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OcTreeNode * | search (const OcTreeKey &key, unsigned int depth=0) const |
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OcTreeNode * | search (const point3d &value, unsigned int depth=0) const |
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OcTreeNode * | search (double x, double y, double z, unsigned int depth=0) const |
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void | setResolution (double r) |
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virtual size_t | size () const |
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void | swapContent (OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) |
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double | volume () |
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std::ostream & | writeData (std::ostream &s) const |
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virtual | ~OcTreeBaseImpl () |
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| AbstractOccupancyOcTree () |
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double | getClampingThresMax () const |
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float | getClampingThresMaxLog () const |
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double | getClampingThresMin () const |
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float | getClampingThresMinLog () const |
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double | getOccupancyThres () const |
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float | getOccupancyThresLog () const |
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double | getProbHit () const |
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float | getProbHitLog () const |
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double | getProbMiss () const |
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float | getProbMissLog () const |
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bool | isNodeAtThreshold (const OcTreeNode *occupancyNode) const |
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bool | isNodeAtThreshold (const OcTreeNode &occupancyNode) const |
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bool | isNodeOccupied (const OcTreeNode *occupancyNode) const |
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bool | isNodeOccupied (const OcTreeNode &occupancyNode) const |
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bool | readBinary (std::istream &s) |
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bool | readBinary (const std::string &filename) |
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void | setClampingThresMax (double thresProb) |
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void | setClampingThresMin (double thresProb) |
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void | setOccupancyThres (double prob) |
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void | setProbHit (double prob) |
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void | setProbMiss (double prob) |
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virtual OcTreeNode * | updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0 |
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virtual OcTreeNode * | updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0 |
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bool | writeBinary (const std::string &filename) |
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bool | writeBinary (std::ostream &s) |
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bool | writeBinaryConst (std::ostream &s) const |
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bool | writeBinaryConst (const std::string &filename) const |
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virtual | ~AbstractOccupancyOcTree () |
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| AbstractOcTree () |
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bool | write (std::ostream &s) const |
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bool | write (const std::string &filename) const |
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virtual | ~AbstractOcTree () |
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