This is a inherited class of OcTree. The probability of contact sensor model is defined. More...

#include <OcTreeContact.h>

Inheritance diagram for octomap::OcTreeContact:

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Public Member Functions
double	getFreeThres () const

float	getFreeThresLog () const

double	getProbHitContactSensor () const

float	getProbHitContactSensorLog () const

double	getProbMissContactSensor () const

float	getProbMissContactSensorLog () const

bool	isNodeFree (const OcTreeNode &occupancy_node) const

bool	isNodeFree (const OcTreeNode *occupancy_node) const

bool	isNodeUnknown (const OcTreeNode &occupancy_node) const

bool	isNodeUnknown (const OcTreeNode *occupancy_node) const

	OcTreeContact (double resolution)

void	setFreeThres (double prob)

void	setProbHitContactSensor (double prob)

void	setProbMissContactSensor (double prob)

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

std::string	getTreeType () const

	OcTree (double resolution)

	OcTree (std::string _filename)

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 OcTreeKey &key) const

bool	inBBX (const point3d &p) 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 (const OccupancyOcTreeBase< OcTreeNode > &rhs)

	OccupancyOcTreeBase (double resolution)

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

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

void	resetChangeDetection ()

void	setBBXMax (const point3d &max)

void	setBBXMin (const 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 (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

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

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

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

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

virtual OcTreeNode *	updateNode (double x, double y, double z, 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

key_type	adjustKeyAtDepth (key_type 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 ()

void	clearKeyRays ()

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) const

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

key_type	coordToKey (double coordinate) const

key_type	coordToKey (double coordinate, unsigned depth) const

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

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

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &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

OcTreeNode *	createNodeChild (OcTreeNode *node, unsigned int childIdx)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

void	deleteNodeChild (OcTreeNode *node, unsigned int childIdx)

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	expandNode (OcTreeNode *node)

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

const OcTreeNode *	getNodeChild (const OcTreeNode *node, unsigned int childIdx) const

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx) 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

virtual bool	isNodeCollapsible (const OcTreeNode *node) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

double	keyToCoord (key_type key) const

double	keyToCoord (key_type key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const

bool	nodeHasChildren (const OcTreeNode *node) const

	OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

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

virtual void	prune ()

virtual bool	pruneNode (OcTreeNode *node)

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 (const std::string &filename)

bool	readBinary (std::istream &s)

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, bool occupied, bool lazy_eval=false)=0

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

bool	writeBinary (const std::string &filename)

bool	writeBinary (std::ostream &s)

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

bool	writeBinaryConst (std::ostream &s) const

virtual	~AbstractOccupancyOcTree ()

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

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

bool	write (std::ostream &s) const

virtual	~AbstractOcTree ()

Public Attributes
float	free_prob_thres_log_

float	prob_hit_contact_sensor_log_

float	prob_miss_contact_sensor_log_

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

typedef OcTreeNode	NodeType

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 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	allocNodeChildren (OcTreeNode *node)

void	calcMinMax ()

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

void	deleteNodeRecurs (OcTreeNode *node)

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)

std::istream &	readNodesRecurs (OcTreeNode *, std::istream &s)

std::ostream &	writeNodesRecurs (const OcTreeNode *, std::ostream &s) const

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 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

This is a inherited class of OcTree. The probability of contact sensor model is defined.

Definition at line 80 of file OcTreeContact.h.

Constructor & Destructor Documentation

◆ OcTreeContact()

octomap::OcTreeContact::OcTreeContact ( double resolution )

inline

Definition at line 144 of file OcTreeContact.h.

Member Function Documentation

◆ getFreeThres()

double octomap::OcTreeContact::getFreeThres ( ) const

inline

Definition at line 132 of file OcTreeContact.h.

◆ getFreeThresLog()

float octomap::OcTreeContact::getFreeThresLog ( ) const

inline

Definition at line 133 of file OcTreeContact.h.

◆ getProbHitContactSensor()

double octomap::OcTreeContact::getProbHitContactSensor ( ) const

inline

Definition at line 135 of file OcTreeContact.h.

◆ getProbHitContactSensorLog()

float octomap::OcTreeContact::getProbHitContactSensorLog ( ) const

inline

Definition at line 136 of file OcTreeContact.h.

◆ getProbMissContactSensor()

double octomap::OcTreeContact::getProbMissContactSensor ( ) const

inline

Definition at line 137 of file OcTreeContact.h.

◆ getProbMissContactSensorLog()

float octomap::OcTreeContact::getProbMissContactSensorLog ( ) const

inline

Definition at line 138 of file OcTreeContact.h.

◆ isNodeFree() [1/2]

bool octomap::OcTreeContact::isNodeFree ( const OcTreeNode & occupancy_node ) const

inline

Definition at line 118 of file OcTreeContact.h.

◆ isNodeFree() [2/2]

bool octomap::OcTreeContact::isNodeFree ( const OcTreeNode * occupancy_node ) const

inline

Definition at line 115 of file OcTreeContact.h.

◆ isNodeUnknown() [1/2]

bool octomap::OcTreeContact::isNodeUnknown ( const OcTreeNode & occupancy_node ) const

inline

Definition at line 124 of file OcTreeContact.h.

◆ isNodeUnknown() [2/2]

bool octomap::OcTreeContact::isNodeUnknown ( const OcTreeNode * occupancy_node ) const

inline

Definition at line 121 of file OcTreeContact.h.

◆ setFreeThres()

void octomap::OcTreeContact::setFreeThres ( double prob )

inline

Definition at line 128 of file OcTreeContact.h.

◆ setProbHitContactSensor()

void octomap::OcTreeContact::setProbHitContactSensor ( double prob )

inline

Definition at line 129 of file OcTreeContact.h.

◆ setProbMissContactSensor()

void octomap::OcTreeContact::setProbMissContactSensor ( double prob )

inline

Definition at line 130 of file OcTreeContact.h.

Member Data Documentation

◆ free_prob_thres_log_

float octomap::OcTreeContact::free_prob_thres_log_

Definition at line 142 of file OcTreeContact.h.

◆ prob_hit_contact_sensor_log_

float octomap::OcTreeContact::prob_hit_contact_sensor_log_

Definition at line 140 of file OcTreeContact.h.

◆ prob_miss_contact_sensor_log_

float octomap::OcTreeContact::prob_miss_contact_sensor_log_

Definition at line 141 of file OcTreeContact.h.

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

OcTreeContact.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OcTreeContact()

Member Function Documentation

◆ getFreeThres()

◆ getFreeThresLog()

◆ getProbHitContactSensor()

◆ getProbHitContactSensorLog()

◆ getProbMissContactSensor()

◆ getProbMissContactSensorLog()

◆ isNodeFree() [1/2]

◆ isNodeFree() [2/2]

◆ isNodeUnknown() [1/2]

◆ isNodeUnknown() [2/2]

◆ setFreeThres()

◆ setProbHitContactSensor()

◆ setProbMissContactSensor()

Member Data Documentation

◆ free_prob_thres_log_

◆ prob_hit_contact_sensor_log_

◆ prob_miss_contact_sensor_log_