#include <octree_pa_ros.h>

Inheritance diagram for cOctreePaRos:

[legend]

Public Types
typedef cOctreeBasePaRos< OcTree >	TreeTypeBase

Public Types inherited from cOctreeBasePaRos< octomap::OcTree >
typedef ::octomap::OcTreeKey	OctKey

typedef pcl::PointCloud< pcl::PointXYZ >	PclPointCloud

typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr	PclPointCloudConstPtr

typedef pcl::PointCloud< pcl::PointXYZ >::Ptr	PclPointCloudPtr

typedef octomap::OcTree	TreeTypeBase

typedef cOctreeBasePaRos< octomap::OcTree >	TreeTypeFull

Public Types inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef OcTreeNode	NodeType

Public Member Functions
	cOctreePaRos (const double resolution)
	default constructor More...

virtual	~cOctreePaRos ()
	default destructor More...

Public Member Functions inherited from cOctreeBasePaRos< octomap::OcTree >
bool	addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

virtual void	clear (void)
	clear local timestamps with octomap More...

	cOctreeBasePaRos (double resolution)
	default constructor More...

bool	getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

virtual ros::Time	getLastInsertionTime (void) const

octomap_msgs::OctomapPtr	getOctomap (void) const
	function for getting the binary octomap More...

octomap_msgs::OctomapPtr	getOctomapFull (void) const
	function for getting the full octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcd (const int tree_depth=0, const bool expand=false) const
	function for getting the pointcloud equivalent of the octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const
	similar to getOctomapPcd, but only returning just empty voxels More...

ros::Time	getOutputTime (void) const

bool	getParentKey (const OctKey &current, const int current_level, OctKey &parent) const

geometry_msgs::PointPtr	keyToPoint (const OctKey &key) const
	function for converting from key to point (geometry_msg) More...

void	keyToPoint (const OctKey &key, double &x, double &y, double &z) const
	function for converting from key to real coordinates More...

OctKey	pointToKey (const geometry_msgs::Point &point) const
	functions for converting from point (geometry_msg) to key More...

bool	readFull (const std::string &filename)
	trying to read the given file into the current OcTree More...

virtual void	setLastInsertionTime (const ros::Time &time)

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Member Functions inherited from octomap::OcTree
OcTree *	create () const

std::string	getTreeType () const

	OcTree (std::string _filename)

	OcTree (double resolution)

virtual	~OcTree ()

Public Member Functions inherited from OccupancyOcTreeBase< OcTreeNode >
bool	bbxSet () const

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const

KeyBoolMap::const_iterator	changedKeysBegin () const

KeyBoolMap::const_iterator	changedKeysEnd () const

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	enableChangeDetection (bool enable)

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const point3d &p) const

bool	inBBX (const OcTreeKey &key) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)

virtual void	integrateHit (OcTreeNode *occupancyNode) const

virtual void	integrateMiss (OcTreeNode *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (OcTreeNode *occupancyNode) const

virtual void	nodeToMaxLikelihood (OcTreeNode &occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (double resolution)

	OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNode > &rhs)

	OCTOMAP_DEPRECATED (virtual void insertScanNaive(const Pointcloud &scan, const point3d &sensor_origin, double maxrange, bool lazy_eval=false))

	OCTOMAP_DEPRECATED (virtual void insertScan(const ScanNode &scan, double maxrange=-1., bool pruning=true, bool lazy_eval=false))

	OCTOMAP_DEPRECATED (virtual void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false))

	OCTOMAP_DEPRECATED (virtual void insertScan(const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false))

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, OcTreeNode *node) const

void	resetChangeDetection ()

void	setBBXMax (point3d &max)

void	setBBXMin (point3d &min)

virtual OcTreeNode *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNode *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNode *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

virtual OcTreeNode *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)

virtual void	updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const

void	useBBXLimit (bool enable)

std::ostream &	writeBinaryData (std::ostream &s) const

std::ostream &	writeBinaryNode (std::ostream &s, const OcTreeNode *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
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

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const

unsigned short int	coordToKey (double coordinate) const

unsigned short int	coordToKey (double coordinate, unsigned depth) const

OcTreeKey	coordToKey (const point3d &coord) const

OcTreeKey	coordToKey (double x, double y, double z) const

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)

void	getMetricMax (double &x, double &y, double &z) const

virtual void	getMetricMin (double &x, double &y, double &z)

void	getMetricMin (double &x, double &y, double &z) const

virtual void	getMetricSize (double &x, double &y, double &z)

virtual void	getMetricSize (double &x, double &y, double &z) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const

double	getResolution () const

OcTreeNode *	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

point3d	keyToCoord (const OcTreeKey &key) const

double	keyToCoord (unsigned short int key, unsigned depth) const

double	keyToCoord (unsigned short int 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 (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

bool	operator== (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

std::istream &	readData (std::istream &s)

OcTreeNode *	search (const OcTreeKey &key, unsigned int depth=0) const

OcTreeNode *	search (const point3d &value, unsigned int depth=0) const

OcTreeNode *	search (double x, double y, double z, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs)

double	volume ()

std::ostream &	writeData (std::ostream &s) const

virtual	~OcTreeBaseImpl ()

Public Member Functions inherited from octomap::AbstractOccupancyOcTree
	AbstractOccupancyOcTree ()

double	getClampingThresMax () const

float	getClampingThresMaxLog () const

double	getClampingThresMin () const

float	getClampingThresMinLog () const

double	getOccupancyThres () const

float	getOccupancyThresLog () const

double	getProbHit () const

float	getProbHitLog () const

double	getProbMiss () const

float	getProbMissLog () const

bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const

bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const

bool	isNodeOccupied (const OcTreeNode *occupancyNode) const

bool	isNodeOccupied (const OcTreeNode &occupancyNode) const

bool	readBinary (std::istream &s)

bool	readBinary (const std::string &filename)

void	setClampingThresMax (double thresProb)

void	setClampingThresMin (double thresProb)

void	setOccupancyThres (double prob)

void	setProbHit (double prob)

void	setProbMiss (double prob)

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0

bool	writeBinary (const std::string &filename)

bool	writeBinary (std::ostream &s)

bool	writeBinaryConst (std::ostream &s) const

bool	writeBinaryConst (const std::string &filename) const

virtual	~AbstractOccupancyOcTree ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

bool	write (std::ostream &s) const

bool	write (const std::string &filename) const

virtual	~AbstractOcTree ()

Additional Inherited Members
Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree *	createTree (const std::string id, double res)

static AbstractOcTree *	read (std::istream &s)

static AbstractOcTree *	read (const std::string &filename)

Public Attributes inherited from cOctreeBasePaRos< octomap::OcTree >
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Protected Member Functions inherited from cOctreeBasePaRos< octomap::OcTree >
bool	addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)

void	getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
	helper function for getChildKey More...

void	getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const
	helper function for getOctomapPcd... More...

void	getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const
	helper function for getParentKey More...

Protected Member Functions inherited from OccupancyOcTreeBase< OcTreeNode >
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

OcTreeNode *	setNodeValueRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (OcTreeNode *node, unsigned int depth)

OcTreeNode *	updateNodeRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

Protected Member Functions inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
void	calcMinMax ()

void	calcNumNodesRecurs (OcTreeNode *node, size_t &num_nodes) const

bool	deleteNodeRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const OcTreeNode *parent) const

void	init ()

	OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

void	pruneRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

Protected Member Functions inherited from octomap::AbstractOccupancyOcTree
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)

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 cOctreeBasePaRos< octomap::OcTree >
ros::Time	current_output_time_
	internal variable for storing current output time More...

ros::Time	last_insertion_time_
	internal variable for storing last insertion time More...

Protected Attributes inherited from OccupancyOcTreeBase< OcTreeNode >
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys

bool	use_bbx_limit

bool	use_change_detection

Protected Attributes inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]

double	min_value [3]

double	resolution

double	resolution_factor

OcTreeNode *	root

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Protected Attributes inherited from octomap::AbstractOccupancyOcTree
float	clamping_thres_max

float	clamping_thres_min

float	occ_prob_thres_log

float	prob_hit_log

float	prob_miss_log

Static Protected Attributes inherited from octomap::OcTree
static StaticMemberInitializer	ocTreeMemberInit

Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree
static const std::string	binaryFileHeader

Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string	fileHeader

Detailed Description

Definition at line 60 of file octree_pa_ros.h.

Member Typedef Documentation

typedef cOctreeBasePaRos<OcTree> cOctreePaRos::TreeTypeBase

Definition at line 63 of file octree_pa_ros.h.

Constructor & Destructor Documentation

cOctreePaRos::cOctreePaRos ( const double resolution )

default constructor

Definition at line 55 of file octree_pa_ros.cpp.

cOctreePaRos::~cOctreePaRos ( )

virtual

default destructor

Definition at line 61 of file octree_pa_ros.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation