OcTreeNode.cpp
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
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5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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33 
34 #include <bitset>
35 #include <cassert>
36 #include <math.h>
37 #include <fstream>
38 #include <stdlib.h>
39 
40 #include <octomap/OcTreeNode.h>
41 
42 namespace octomap {
43 
45  : OcTreeDataNode<float>(0.0)
46  {
47  }
48 
50  }
51 
52  // TODO: Use Curiously Recurring Template Pattern instead of copying full function
53  // (same for getChild)
54  bool OcTreeNode::createChild(unsigned int i) {
55  if (children == NULL) {
56  allocChildren();
57  }
58  assert (children[i] == NULL);
59  children[i] = new OcTreeNode();
60  return true;
61  }
62 
63  // ============================================================
64  // = occupancy probability ==================================
65  // ============================================================
66 
68  double mean = 0;
69  char c = 0;
70  for (unsigned int i=0; i<8; i++) {
71  if (childExists(i)) {
72  mean += getChild(i)->getOccupancy();
73  c++;
74  }
75  }
76  if (c)
77  mean /= (double) c;
78 
79  return log(mean/(1-mean));
80  }
81 
83  float max = -std::numeric_limits<float>::max();
84  for (unsigned int i=0; i<8; i++) {
85  if (childExists(i)) {
86  float l = getChild(i)->getLogOdds();
87  if (l > max)
88  max = l;
89  }
90  }
91  return max;
92  }
93 
94  void OcTreeNode::addValue(const float& logOdds) {
95  value += logOdds;
96  }
97 
98 } // end namespace
99 
100 
float value
stored data (payload)
OcTreeNode * getChild(unsigned int i)
Definition: OcTreeNode.h:64
float getMaxChildLogOdds() const
Definition: OcTreeNode.cpp:82
bool createChild(unsigned int i)
Definition: OcTreeNode.cpp:54
bool childExists(unsigned int i) const
void addValue(const float &p)
adds p to the node&#39;s logOdds value (with no boundary / threshold checking!)
Definition: OcTreeNode.cpp:94
OcTreeDataNode< float > ** children
pointer to array of children, may be NULL
float getLogOdds() const
Definition: OcTreeNode.h:77
double getMeanChildLogOdds() const
Definition: OcTreeNode.cpp:67
double getOccupancy() const
Definition: OcTreeNode.h:74


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Jun 10 2019 14:00:13