#include <OcTreeNode.h>
Public Member Functions | |
void | addValue (const float &p) |
adds p to the node's logOdds value (with no boundary / threshold checking!) More... | |
bool | createChild (unsigned int i) |
OcTreeNode * | getChild (unsigned int i) |
const OcTreeNode * | getChild (unsigned int i) const |
float | getLogOdds () const |
float | getMaxChildLogOdds () const |
double | getMeanChildLogOdds () const |
double | getOccupancy () const |
OcTreeNode () | |
void | setLogOdds (float l) |
sets log odds occupancy of node More... | |
void | updateOccupancyChildren () |
update this node's occupancy according to its children's maximum occupancy More... | |
~OcTreeNode () | |
Public Member Functions inherited from octomap::OcTreeDataNode< float > | |
bool | childExists (unsigned int i) const |
bool | collapsible () const |
bool | createChild (unsigned int i) |
initialize i-th child, allocate children array if needed More... | |
void | deleteChild (unsigned int i) |
Deletes the i-th child of the node. More... | |
void | expandNode () |
OcTreeDataNode< float > * | getChild (unsigned int i) |
const OcTreeDataNode< float > * | getChild (unsigned int i) const |
float | getValue () const |
bool | hasChildren () const |
OcTreeDataNode () | |
OcTreeDataNode (floatinitVal) | |
OcTreeDataNode (const OcTreeDataNode &rhs) | |
Copy constructor, performs a recursive deep-copy of all children. More... | |
bool | operator== (const OcTreeDataNode &rhs) const |
Equals operator, compares if the stored value is identical. More... | |
bool | pruneNode () |
std::istream & | readValue (std::istream &s) |
void | setValue (floatv) |
sets value to be stored in the node More... | |
std::ostream & | writeValue (std::ostream &s) const |
~OcTreeDataNode () | |
Additional Inherited Members | |
Public Types inherited from octomap::OcTreeDataNode< float > | |
typedef float | DataType |
Make the templated data type available from the outside. More... | |
Protected Member Functions inherited from octomap::OcTreeDataNode< float > | |
void | allocChildren () |
Protected Attributes inherited from octomap::OcTreeDataNode< float > | |
OcTreeDataNode< float > ** | children |
pointer to array of children, may be NULL More... | |
float | value |
stored data (payload) More... | |
Nodes to be used in OcTree. They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.
Note: If you derive a class (directly or indirectly) from OcTreeNode or OcTreeDataNode, you have to implement (at least) the following functions: createChild(), getChild(), getChild() const, expandNode() to avoid slicing errors and memory-related bugs. See ColorOcTreeNode in ColorOcTree.h for an example.
Definition at line 55 of file OcTreeNode.h.
octomap::OcTreeNode::OcTreeNode | ( | ) |
Definition at line 44 of file OcTreeNode.cpp.
octomap::OcTreeNode::~OcTreeNode | ( | ) |
Definition at line 49 of file OcTreeNode.cpp.
void octomap::OcTreeNode::addValue | ( | const float & | p | ) |
adds p to the node's logOdds value (with no boundary / threshold checking!)
Definition at line 94 of file OcTreeNode.cpp.
bool octomap::OcTreeNode::createChild | ( | unsigned int | i | ) |
Definition at line 54 of file OcTreeNode.cpp.
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inline |
Definition at line 64 of file OcTreeNode.h.
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inline |
Definition at line 67 of file OcTreeNode.h.
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inline |
Definition at line 77 of file OcTreeNode.h.
float octomap::OcTreeNode::getMaxChildLogOdds | ( | ) | const |
Definition at line 82 of file OcTreeNode.cpp.
double octomap::OcTreeNode::getMeanChildLogOdds | ( | ) | const |
Definition at line 67 of file OcTreeNode.cpp.
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inline |
Definition at line 74 of file OcTreeNode.h.
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inline |
sets log odds occupancy of node
Definition at line 79 of file OcTreeNode.h.
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inline |
update this node's occupancy according to its children's maximum occupancy
Definition at line 92 of file OcTreeNode.h.