octomap::AbstractOcTree Class Reference

#include <AbstractOcTree.h>

Inheritance diagram for octomap::AbstractOcTree:

Public Member Functions
	AbstractOcTree ()
virtual void	clear ()=0
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type More...
virtual void	expand ()=0
virtual void	getMetricMax (double &x, double &y, double &z) const =0
virtual void	getMetricMax (double &x, double &y, double &z)=0
virtual void	getMetricMin (double &x, double &y, double &z) const =0
virtual void	getMetricMin (double &x, double &y, double &z)=0
virtual void	getMetricSize (double &x, double &y, double &z)=0
virtual double	getResolution () const =0
virtual std::string	getTreeType () const =0
	returns actual class name as string for identification More...
virtual size_t	memoryUsage () const =0
virtual size_t	memoryUsageNode () const =0
virtual void	prune ()=0
virtual std::istream &	readData (std::istream &s)=0
virtual void	setResolution (double res)=0
virtual size_t	size () const =0
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 std::ostream &	writeData (std::ostream &s) const =0
virtual	~AbstractOcTree ()

Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
static AbstractOcTree *	read (const std::string &filename)
static AbstractOcTree *	read (std::istream &s)

Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void	registerTreeType (AbstractOcTree *tree)

Static Protected Attributes
static const std::string	fileHeader = "# Octomap OcTree file"

Static Private Member Functions
static std::map< std::string, AbstractOcTree * > &	classIDMapping ()
	create private store, Construct on first use More...

Friends
class	StaticMapInit

Detailed Description

This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()).

Definition at line 50 of file AbstractOcTree.h.

Constructor & Destructor Documentation

AbstractOcTree()

octomap::AbstractOcTree::AbstractOcTree

(

)

Definition at line 41 of file AbstractOcTree.cpp.

~AbstractOcTree()

virtual octomap::AbstractOcTree::~AbstractOcTree ( )

inlinevirtual

Definition at line 54 of file AbstractOcTree.h.

Member Function Documentation

classIDMapping()

std::map< std::string, AbstractOcTree * > & octomap::AbstractOcTree::classIDMapping ( )

staticprivate

create private store, Construct on first use

Definition at line 197 of file AbstractOcTree.cpp.

clear()

virtual void octomap::AbstractOcTree::clear ( )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

create()

virtual AbstractOcTree* octomap::AbstractOcTree::create ( ) const

pure virtual

virtual constructor: creates a new object of same type

Implemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTree, and octomap::OcTreeBase< NODE >.

createTree()

AbstractOcTree * octomap::AbstractOcTree::createTree ( const std::string  id, double  res  )

static

Creates a certain OcTree (factory pattern)

Parameters

id	unique ID of OcTree
res	resolution of OcTree

Returns

pointer to newly created OcTree (empty). NULL if the ID is unknown!

Definition at line 184 of file AbstractOcTree.cpp.

expand()

virtual void octomap::AbstractOcTree::expand ( )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getMetricMax() [1/2]

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x, double &  y, double &  z  ) const

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getMetricMax() [2/2]

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x, double &  y, double &  z  )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getMetricMin() [1/2]

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x, double &  y, double &  z  ) const

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getMetricMin() [2/2]

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x, double &  y, double &  z  )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getMetricSize()

virtual void octomap::AbstractOcTree::getMetricSize ( double &  x, double &  y, double &  z  )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

getResolution()

virtual double octomap::AbstractOcTree::getResolution ( ) const

pure virtual

getTreeType()

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const

pure virtual

returns actual class name as string for identification

Implemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTree, and octomap::OcTreeBase< NODE >.

memoryUsage()

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const

pure virtual

memoryUsageNode()

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const

pure virtual

prune()

virtual void octomap::AbstractOcTree::prune ( )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

read() [1/2]

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

static

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

AbstractOcTree* tree = AbstractOcTree::read("filename.ot");
OcTree* octree = dynamic_cast<OcTree*>(tree);

Definition at line 74 of file AbstractOcTree.cpp.

read() [2/2]

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

static

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself.

Definition at line 87 of file AbstractOcTree.cpp.

readData()

virtual std::istream& octomap::AbstractOcTree::readData ( std::istream &  s )

pure virtual

Read all nodes from the input stream (without file header), for this the tree needs to be already created. For general file IO, you should probably use AbstractOcTree::read() instead.

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

readHeader()

bool octomap::AbstractOcTree::readHeader ( std::istream &  s, std::string &  id, unsigned &  size, double &  res  )

staticprotected

Definition at line 119 of file AbstractOcTree.cpp.

registerTreeType()

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree *  tree )

staticprotected

Definition at line 205 of file AbstractOcTree.cpp.

setResolution()

virtual void octomap::AbstractOcTree::setResolution ( double  res )

pure virtual

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

size()

virtual size_t octomap::AbstractOcTree::size ( ) const

pure virtual

write() [1/2]

bool octomap::AbstractOcTree::write

(

const std::string &

filename

)

const

Write file header and complete tree to file (serialization)

Definition at line 45 of file AbstractOcTree.cpp.

write() [2/2]

bool octomap::AbstractOcTree::write

(

std::ostream &

s

)

const

Write file header and complete tree to stream (serialization)

Definition at line 61 of file AbstractOcTree.cpp.

writeData()

virtual std::ostream& octomap::AbstractOcTree::writeData ( std::ostream &  s ) const

pure virtual

Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)

Implemented in octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Friends And Related Function Documentation

StaticMapInit

friend class StaticMapInit

friend

Definition at line 51 of file AbstractOcTree.h.

Member Data Documentation

fileHeader

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file"

staticprotected

Definition at line 155 of file AbstractOcTree.h.

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

• AbstractOcTree.h
• AbstractOcTree.cpp