Public Member Functions | Public Attributes | List of all members
octomap::OcTreeContact Class Reference

This is a inherited class of OcTree. The probability of contact sensor model is defined. More...

#include <OcTreeContact.h>

Inheritance diagram for octomap::OcTreeContact:
Inheritance graph
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Public Member Functions

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

Public Attributes

float free_prob_thres_log_
 
float prob_hit_contact_sensor_log_
 
float prob_miss_contact_sensor_log_
 

Additional Inherited Members

- Public Types inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
typedef leaf_iterator iterator
 
typedef OcTreeNode NodeType
 
- Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree * createTree (const std::string id, double res)
 
static AbstractOcTree * read (std::istream &s)
 
static AbstractOcTree * read (const std::string &filename)
 
- Protected Member Functions inherited from OccupancyOcTreeBase< OcTreeNode >
bool integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)
 
 OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
 
OcTreeNode * setNodeValueRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)
 
void toMaxLikelihoodRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)
 
void updateInnerOccupancyRecurs (OcTreeNode *node, unsigned int depth)
 
OcTreeNode * updateNodeRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)
 
- Protected Member Functions inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
void calcMinMax ()
 
void calcNumNodesRecurs (OcTreeNode *node, size_t &num_nodes) const
 
bool deleteNodeRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
 
void expandRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)
 
size_t getNumLeafNodesRecurs (const OcTreeNode *parent) const
 
void init ()
 
 OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
 
void pruneRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
 
- Protected Member Functions inherited from octomap::AbstractOccupancyOcTree
bool readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
 
- Static Protected Member Functions inherited from octomap::AbstractOcTree
static bool readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
 
static void registerTreeType (AbstractOcTree *tree)
 
- Protected Attributes inherited from OccupancyOcTreeBase< OcTreeNode >
point3d bbx_max
 
OcTreeKey bbx_max_key
 
point3d bbx_min
 
OcTreeKey bbx_min_key
 
KeyBoolMap changed_keys
 
bool use_bbx_limit
 
bool use_change_detection
 
- Protected Attributes inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
std::vector< KeyRay > keyrays
 
const leaf_bbx_iterator leaf_iterator_bbx_end
 
const leaf_iterator leaf_iterator_end
 
double max_value [3]
 
double min_value [3]
 
double resolution
 
double resolution_factor
 
OcTreeNode * root
 
bool size_changed
 
std::vector< double > sizeLookupTable
 
point3d tree_center
 
const unsigned int tree_depth
 
const tree_iterator tree_iterator_end
 
const unsigned int tree_max_val
 
size_t tree_size
 
- Protected Attributes inherited from octomap::AbstractOccupancyOcTree
float clamping_thres_max
 
float clamping_thres_min
 
float occ_prob_thres_log
 
float prob_hit_log
 
float prob_miss_log
 
- Static Protected Attributes inherited from octomap::OcTree
static StaticMemberInitializer ocTreeMemberInit
 
- Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree
static const std::string binaryFileHeader
 
- Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string fileHeader
 

Detailed Description

This is a inherited class of OcTree. The probability of contact sensor model is defined.

Definition at line 48 of file OcTreeContact.h.

Constructor & Destructor Documentation

octomap::OcTreeContact::OcTreeContact ( double  resolution)
inline

Definition at line 80 of file OcTreeContact.h.

Member Function Documentation

double octomap::OcTreeContact::getFreeThres ( ) const
inline

Definition at line 68 of file OcTreeContact.h.

float octomap::OcTreeContact::getFreeThresLog ( ) const
inline

Definition at line 69 of file OcTreeContact.h.

double octomap::OcTreeContact::getProbHitContactSensor ( ) const
inline

Definition at line 71 of file OcTreeContact.h.

float octomap::OcTreeContact::getProbHitContactSensorLog ( ) const
inline

Definition at line 72 of file OcTreeContact.h.

double octomap::OcTreeContact::getProbMissContactSensor ( ) const
inline

Definition at line 73 of file OcTreeContact.h.

float octomap::OcTreeContact::getProbMissContactSensorLog ( ) const
inline

Definition at line 74 of file OcTreeContact.h.

bool octomap::OcTreeContact::isNodeFree ( const OcTreeNode *  occupancy_node) const
inline

Definition at line 51 of file OcTreeContact.h.

bool octomap::OcTreeContact::isNodeFree ( const OcTreeNode &  occupancy_node) const
inline

Definition at line 54 of file OcTreeContact.h.

bool octomap::OcTreeContact::isNodeUnknown ( const OcTreeNode *  occupancy_node) const
inline

Definition at line 57 of file OcTreeContact.h.

bool octomap::OcTreeContact::isNodeUnknown ( const OcTreeNode &  occupancy_node) const
inline

Definition at line 60 of file OcTreeContact.h.

void octomap::OcTreeContact::setFreeThres ( double  prob)
inline

Definition at line 64 of file OcTreeContact.h.

void octomap::OcTreeContact::setProbHitContactSensor ( double  prob)
inline

Definition at line 65 of file OcTreeContact.h.

void octomap::OcTreeContact::setProbMissContactSensor ( double  prob)
inline

Definition at line 66 of file OcTreeContact.h.

Member Data Documentation

float octomap::OcTreeContact::free_prob_thres_log_

Definition at line 78 of file OcTreeContact.h.

float octomap::OcTreeContact::prob_hit_contact_sensor_log_

Definition at line 76 of file OcTreeContact.h.

float octomap::OcTreeContact::prob_miss_contact_sensor_log_

Definition at line 77 of file OcTreeContact.h.

The documentation for this class was generated from the following file:

jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:48