#include <CountingOcTree.h>
Inheritance diagram for octomap::CountingOcTree:
Classes | |
| class | StaticMemberInitializer |
Public Member Functions | |
| CountingOcTree (double resolution) | |
| Default constructor, sets resolution of leafs. More... | |
| void | getCentersMinHits (point3d_list &node_centers, unsigned int min_hits) const |
| virtual CountingOcTreeNode * | updateNode (const point3d &value) |
| CountingOcTreeNode * | updateNode (const OcTreeKey &k) |
 Public Member Functions inherited from octomap::OcTreeBase< CountingOcTreeNode > | |
| OcTreeBase< CountingOcTreeNode > * | create () const |
| std::string | getTreeType () const |
| returns actual class name as string for identification More... | |
| OcTreeBase (double res) | |
| Public Member Functions inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > | |
| 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 |
| Traverses the tree to calculate the total number of nodes. More... | |
| void | clear () |
| Deletes the complete tree structure. More... | |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| unsigned short int | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. More... | |
| unsigned short int | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. More... | |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| 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) |
| maximum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMax (double &x, double &y, double &z) const |
| maximum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMin (double &x, double &y, double &z) const |
| minimum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. More... | |
| double | getResolution () const |
| CountingOcTreeNode * | 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 |
| return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
| double | keyToCoord (unsigned short int key, unsigned depth) const |
| double | keyToCoord (unsigned short int key) const |
| point3d | keyToCoord (const OcTreeKey &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 (double resolution) | |
| OcTreeBaseImpl (const OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs) | |
| Deep copy constructor. More... | |
| bool | operator== (const OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs) const |
| virtual void | prune () |
| std::istream & | readData (std::istream &s) |
| CountingOcTreeNode * | search (double x, double y, double z, unsigned int depth=0) const |
| CountingOcTreeNode * | search (const point3d &value, unsigned int depth=0) const |
| CountingOcTreeNode * | search (const OcTreeKey &key, unsigned int depth=0) const |
| void | setResolution (double r) |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| virtual | ~OcTreeBaseImpl () |
| Public Member Functions inherited from octomap::AbstractOcTree | |
| AbstractOcTree () | |
| bool | write (const std::string &filename) const |
| Write file header and complete tree to file (serialization) More... | |
| bool | write (std::ostream &s) const |
| Write file header and complete tree to stream (serialization) More... | |
| virtual | ~AbstractOcTree () |
Protected Member Functions | |
| void | getCentersMinHitsRecurs (point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const |
| Protected Member Functions inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > | |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
| void | calcNumNodesRecurs (CountingOcTreeNode *node, size_t &num_nodes) const |
| bool | deleteNodeRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() More... | |
| void | expandRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() More... | |
| size_t | getNumLeafNodesRecurs (const CountingOcTreeNode *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors More... | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| void | pruneRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() More... | |
Static Protected Attributes | |
| static StaticMemberInitializer | countingOcTreeMemberInit |
| static member to ensure static initialization (only once) More... | |
| Static Protected Attributes inherited from octomap::AbstractOcTree | |
| static const std::string | fileHeader = "# Octomap OcTree file" |
Additional Inherited Members | |
| Public Types inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > | |
| typedef leaf_iterator | iterator |
| typedef CountingOcTreeNode | NodeType |
| Make the templated NODE type available from the outside. More... | |
| Static Public Member Functions inherited from octomap::AbstractOcTree | |
| static AbstractOcTree * | createTree (const std::string id, double res) |
| static AbstractOcTree * | read (const std::string &filename) |
| static AbstractOcTree * | read (std::istream &s) |
| 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 octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading More... | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z More... | |
| double | min_value [3] |
| double | resolution |
| in meters More... | |
| double | resolution_factor |
| = 1. / resolution More... | |
| CountingOcTreeNode * | root |
| Pointer to the root NODE, NULL for empty tree. More... | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. More... | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
Detailed Description
An AbstractOcTree which stores an internal counter per node / volume.
Count is recursive, parent nodes have the summed count of their children.
- Note
- In our mapping system this data structure is used in the sensor model only. Do not use, e.g., insertScan.
Definition at line 88 of file CountingOcTree.h.
Constructor & Destructor Documentation
| octomap::CountingOcTree::CountingOcTree | ( | double | resolution | ) |
Default constructor, sets resolution of leafs.
implementation of CountingOcTree -----------------------------------—
Definition at line 73 of file CountingOcTree.cpp.
Member Function Documentation
| void octomap::CountingOcTree::getCentersMinHits | ( | point3d_list & | node_centers, |
| unsigned int | min_hits | ||
| ) | const |
Definition at line 112 of file CountingOcTree.cpp.
|
protected |
Definition at line 120 of file CountingOcTree.cpp.
|
virtual |
Definition at line 78 of file CountingOcTree.cpp.
| CountingOcTreeNode * octomap::CountingOcTree::updateNode | ( | const OcTreeKey & | k | ) |
Definition at line 87 of file CountingOcTree.cpp.
Member Data Documentation
|
staticprotected |
static member to ensure static initialization (only once)
Definition at line 127 of file CountingOcTree.h.
The documentation for this class was generated from the following files: