#include <octree_stamped_pa_ros.h>

Inheritance diagram for cOctreeStampedPaRos:

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Public Types
typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeBase

Public Types inherited from cOctreeBasePaRos< cOcTreeStampedPa >
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 cOcTreeStampedPa	TreeTypeBase

typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeFull

Public Types inherited from cOcTreeStampedPa
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< NodeTypeBase >	NodeTypeFull

typedef cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, NodeTypeBase >	TreeTypeBase

Public Types inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< octomap::OcTreeNode >	NodeTypeFull

typedef octomap::OccupancyOcTreeBase< NodeTypeFull >	TreeTypeBase

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

typedef cNodeStampedBasePa< octomap::OcTreeNode >	NodeType

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

void	degradeOutdatedNodes (void)
	degrading outdated nodes More...

ros::Time	getLastInsertionTime (void) const
	function for returning the time the octomap was last updated More...

void	setLastInsertionTime (const ros::Time &time)
	function for setting the time the octomap was last updated More...

cTimePa	timeFromRos (const ros::Time &time) const
	function for converting from ros::Time to cTimePa More...

ros::Time	timeToRos (const cTimePa &time) const
	function for converting from cTimePa to ros::Time More...

virtual	~cOctreeStampedPaRos ()
	default destructor More...

Public Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
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

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...

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Member Functions inherited from cOcTreeStampedPa
	cOcTreeStampedPa (double resolution)
	Default constructor, sets resolution of leafs. More...

cOcTreeStampedPa *	create () const

virtual std::string	getTreeType () const

virtual	~cOcTreeStampedPa (void)

Public Member Functions inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
	cOcTreeStampedBasePa (double resolution)
	Default constructor, sets resolution of leafs. More...

cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode > *	create () const

void	degradeOutdatedNodes (const cTimePa timediff)

const cTimePa &	getTimestamp (void) const

void	setTimestamp (const cTimePa timestamp)

virtual void	updateNodeLogOdds (NodeTypeFull *node, const float &update) const

virtual	~cOcTreeStampedBasePa (void)

Public Member Functions inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::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 (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

virtual void	integrateMiss (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

virtual void	nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > &occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (double resolution)

	OccupancyOcTreeBase (const OccupancyOcTreeBase< cNodeStampedBasePa< octomap::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, cNodeStampedBasePa< octomap::OcTreeNode > *node) const

void	resetChangeDetection ()

void	setBBXMax (point3d &max)

void	setBBXMin (point3d &min)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)

void	useBBXLimit (bool enable)

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

std::ostream &	writeBinaryNode (std::ostream &s, const cNodeStampedBasePa< octomap::OcTreeNode > *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::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

void	clear ()

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

cNodeStampedBasePa< octomap::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< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

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

virtual void	prune ()

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

cNodeStampedBasePa< octomap::OcTreeNode > *	search (const OcTreeKey &key, unsigned int depth=0) const

cNodeStampedBasePa< octomap::OcTreeNode > *	search (const point3d &value, unsigned int depth=0) const

cNodeStampedBasePa< octomap::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< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)

double	volume ()

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

virtual	~OcTreeBaseImpl ()

Public Attributes
cOctreeStampedPaRosParameter	rosparams_
	parameters More...

Public Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Protected Member Functions
void	checkDegrading (void)
	helper function for automatic degrading More...

Protected Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
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 octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::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)

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

void	toMaxLikelihoodRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth)

cNodeStampedBasePa< octomap::OcTreeNode > *	updateNodeRecurs (cNodeStampedBasePa< octomap::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 octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
void	calcMinMax ()

void	calcNumNodesRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, size_t &num_nodes) const

bool	deleteNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const cNodeStampedBasePa< octomap::OcTreeNode > *parent) const

void	init ()

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

void	pruneRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

Protected Attributes
ros::Time	last_degrading_time_

Protected Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
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 cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
cTimePa	current_timestamp
	used to set new data (insertion of measurement) to actual time stamp More...

Protected Attributes inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::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 octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::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

cNodeStampedBasePa< octomap::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

Additional Inherited Members
Static Protected Attributes inherited from cOcTreeStampedPa
static StaticMemberInitializer	StaticMemberInit
	to ensure static initialization (only once) More...

Detailed Description

Definition at line 59 of file octree_stamped_pa_ros.h.

Member Typedef Documentation

typedef cOctreeBasePaRos<cOcTreeStampedPa> cOctreeStampedPaRos::TreeTypeBase

Definition at line 61 of file octree_stamped_pa_ros.h.

Constructor & Destructor Documentation

cOctreeStampedPaRos::cOctreeStampedPaRos ( const double resolution )

default constructor

Definition at line 55 of file octree_stamped_pa_ros.cpp.

cOctreeStampedPaRos::~cOctreeStampedPaRos ( )

virtual

default destructor

Definition at line 61 of file octree_stamped_pa_ros.cpp.

Member Function Documentation

void cOctreeStampedPaRos::checkDegrading ( void )

protected

helper function for automatic degrading

Definition at line 96 of file octree_stamped_pa_ros.cpp.

void cOctreeStampedPaRos::degradeOutdatedNodes ( void )

degrading outdated nodes

Definition at line 65 of file octree_stamped_pa_ros.cpp.

ros::Time cOctreeStampedPaRos::getLastInsertionTime ( void ) const

virtual

function for returning the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 72 of file octree_stamped_pa_ros.cpp.

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

virtual

function for setting the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 78 of file octree_stamped_pa_ros.cpp.

cTimePa cOctreeStampedPaRos::timeFromRos ( const ros::Time & time ) const

function for converting from ros::Time to cTimePa

Definition at line 90 of file octree_stamped_pa_ros.cpp.

ros::Time cOctreeStampedPaRos::timeToRos ( const cTimePa & time ) const

function for converting from cTimePa to ros::Time

Definition at line 84 of file octree_stamped_pa_ros.cpp.

Member Data Documentation

ros::Time cOctreeStampedPaRos::last_degrading_time_

protected

Definition at line 86 of file octree_stamped_pa_ros.h.

cOctreeStampedPaRosParameter cOctreeStampedPaRos::rosparams_

parameters

Definition at line 83 of file octree_stamped_pa_ros.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation