50 unsigned int query_time = (
unsigned int) time(NULL);
55 && ((query_time - it->getTimestamp()) > time_thres) ) {
virtual void updateNodeLogOdds(OcTreeNodeStamped *node, const float &update) const
update logodds value of node by adding to the current value.
void integrateMissNoTime(OcTreeNodeStamped *node) const
const iterator end() const
const leaf_iterator end_leafs() const
static StaticMemberInitializer ocTreeStampedMemberInit
to ensure static initialization (only once)
unsigned int getLastUpdateTime()
unsigned int getTimestamp() const
OcTreeStamped(double resolution)
Default constructor, sets resolution of leafs.
virtual void updateNodeLogOdds(NODE *occupancyNode, const float &update) const
update logodds value of node by adding to the current value.
void degradeOutdatedNodes(unsigned int time_thres)
OcTreeNodeStamped * root
Pointer to the root NODE, NULL for empty tree.
leaf_iterator begin_leafs(unsigned char maxDepth=0) const
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...