#include <OcTreeBase.h>
Public Member Functions | |
OcTreeBase< NODE > * | 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< NODE, 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 |
NODE * | 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< NODE, AbstractOcTree > &rhs) | |
Deep copy constructor. More... | |
bool | operator== (const OcTreeBaseImpl< NODE, AbstractOcTree > &rhs) const |
virtual void | prune () |
std::istream & | readData (std::istream &s) |
NODE * | search (double x, double y, double z, unsigned int depth=0) const |
NODE * | search (const point3d &value, unsigned int depth=0) const |
NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
void | setResolution (double r) |
virtual size_t | size () const |
void | swapContent (OcTreeBaseImpl< NODE, 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 () |
Additional Inherited Members | |
Public Types inherited from octomap::OcTreeBaseImpl< NODE, AbstractOcTree > | |
typedef leaf_iterator | iterator |
typedef NODE | 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) |
Protected Member Functions inherited from octomap::OcTreeBaseImpl< NODE, AbstractOcTree > | |
void | calcMinMax () |
recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
recursive call of deleteNode() More... | |
void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
recursive call of expand() More... | |
size_t | getNumLeafNodesRecurs (const NODE *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 (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
recursive call of prune() More... | |
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< NODE, 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... | |
NODE * | 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 |
Static Protected Attributes inherited from octomap::AbstractOcTree | |
static const std::string | fileHeader = "# Octomap OcTree file" |
Definition at line 44 of file OcTreeBase.h.
|
inline |
Definition at line 46 of file OcTreeBase.h.
|
inlinevirtual |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
Implements octomap::AbstractOcTree.
Definition at line 50 of file OcTreeBase.h.
|
inlinevirtual |
returns actual class name as string for identification
Implements octomap::AbstractOcTree.
Definition at line 51 of file OcTreeBase.h.