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| OcTree * | create () const |
| |
| std::string | getTreeType () const |
| | returns actual class name as string for identification More...
|
| |
| | OcTree (double resolution) |
| | Default constructor, sets resolution of leafs. More...
|
| |
| | OcTree (std::string _filename) |
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| virtual | ~OcTree () |
| |
| bool | bbxSet () const |
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| virtual bool | castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
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| KeyBoolMap::const_iterator | changedKeysBegin () const |
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| KeyBoolMap::const_iterator | changedKeysEnd () const |
| | Iterator to traverse all keys of changed nodes. More...
|
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| void | computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
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| void | computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
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| void | enableChangeDetection (bool enable) |
| | track or ignore changes while inserting scans (default: ignore) More...
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| point3d | getBBXBounds () const |
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| point3d | getBBXCenter () const |
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| point3d | getBBXMax () const |
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| point3d | getBBXMin () const |
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| bool | getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const |
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| virtual bool | getRayIntersection (const point3d &origin, const point3d &direction, const point3d ¢er, point3d &intersection, double delta=0.0) const |
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| bool | inBBX (const OcTreeKey &key) const |
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| bool | inBBX (const point3d &p) const |
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| virtual void | insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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| virtual void | insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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| virtual void | insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
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| virtual void | insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false) |
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| virtual bool | insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false) |
| |
| virtual void | integrateHit (OcTreeNode *occupancyNode) const |
| | integrate a "hit" measurement according to the tree's sensor model More...
|
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| virtual void | integrateMiss (OcTreeNode *occupancyNode) const |
| | integrate a "miss" measurement according to the tree's sensor model More...
|
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| bool | isChangeDetectionEnabled () const |
| |
| virtual void | nodeToMaxLikelihood (OcTreeNode &occupancyNode) const |
| | converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More...
|
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| virtual void | nodeToMaxLikelihood (OcTreeNode *occupancyNode) const |
| | converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More...
|
| |
| size_t | numChangesDetected () const |
| | Number of changes since last reset. More...
|
| |
| | OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNode > &rhs) |
| | Copy constructor. More...
|
| |
| | OccupancyOcTreeBase (double resolution) |
| | Default constructor, sets resolution of leafs. More...
|
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| std::istream & | readBinaryData (std::istream &s) |
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| std::istream & | readBinaryNode (std::istream &s, OcTreeNode *node) |
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| void | resetChangeDetection () |
| | Reset the set of changed keys. Call this after you obtained all changed nodes. More...
|
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| void | setBBXMax (const point3d &max) |
| | sets the maximum for a query bounding box to use More...
|
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| void | setBBXMin (const point3d &min) |
| | sets the minimum for a query bounding box to use More...
|
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| virtual OcTreeNode * | setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false) |
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| virtual OcTreeNode * | setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false) |
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| virtual OcTreeNode * | setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false) |
| |
| virtual void | toMaxLikelihood () |
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| void | updateInnerOccupancy () |
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| virtual OcTreeNode * | updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false) |
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| virtual OcTreeNode * | updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false) |
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| virtual OcTreeNode * | updateNode (const point3d &value, bool occupied, bool lazy_eval=false) |
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| virtual OcTreeNode * | updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false) |
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| virtual OcTreeNode * | updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false) |
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| virtual OcTreeNode * | updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false) |
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| virtual void | updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const |
| | update logodds value of node by adding to the current value. More...
|
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| void | useBBXLimit (bool enable) |
| | use or ignore BBX limit (default: ignore) More...
|
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| std::ostream & | writeBinaryData (std::ostream &s) const |
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| std::ostream & | writeBinaryNode (std::ostream &s, const OcTreeNode *node) const |
| |
| virtual | ~OccupancyOcTreeBase () |
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| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
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| key_type | adjustKeyAtDepth (key_type key, unsigned int depth) const |
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| iterator | begin (unsigned char maxDepth=0) const |
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| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
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| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
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| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
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| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
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| size_t | calcNumNodes () const |
| | Traverses the tree to calculate the total number of nodes. More...
|
| |
| void | clear () |
| | Deletes the complete tree structure. More...
|
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| void | clearKeyRays () |
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| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
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| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
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| OcTreeKey | coordToKey (const point3d &coord) const |
| | Converts from a 3D coordinate into a 3D addressing key. More...
|
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| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| | Converts from a 3D coordinate into a 3D addressing key at a given depth. More...
|
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| key_type | coordToKey (double coordinate) const |
| | Converts from a single coordinate into a discrete key. More...
|
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| key_type | coordToKey (double coordinate, unsigned depth) const |
| | Converts from a single coordinate into a discrete key at a given depth. More...
|
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| OcTreeKey | coordToKey (double x, double y, double z) const |
| | Converts from a 3D coordinate into a 3D addressing key. More...
|
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| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| | Converts from a 3D coordinate into a 3D addressing key at a given depth. More...
|
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| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
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| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
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| bool | coordToKeyChecked (double coordinate, key_type &key) const |
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| bool | coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const |
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| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
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| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
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| OcTreeNode * | createNodeChild (OcTreeNode *node, unsigned int childIdx) |
| | Creates (allocates) the i-th child of the node. More...
|
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| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
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| bool | deleteNode (const point3d &value, unsigned int depth=0) |
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| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
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| void | deleteNodeChild (OcTreeNode *node, unsigned int childIdx) |
| | Deletes the i-th child of the node. More...
|
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| const iterator | end () const |
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| const leaf_iterator | end_leafs () const |
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| const leaf_bbx_iterator | end_leafs_bbx () const |
| |
| const tree_iterator | end_tree () const |
| |
| virtual void | expand () |
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| virtual void | expandNode (OcTreeNode *node) |
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| virtual void | getMetricMax (double &x, double &y, double &z) |
| | maximum value of the bounding box of all known space in x, y, z More...
|
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| void | getMetricMax (double &x, double &y, double &z) const |
| | maximum value of the bounding box of all known space in x, y, z More...
|
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| virtual void | getMetricMin (double &x, double &y, double &z) |
| | minimum value of the bounding box of all known space in x, y, z More...
|
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| void | getMetricMin (double &x, double &y, double &z) const |
| | minimum value of the bounding box of all known space in x, y, z More...
|
| |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| | Size of OcTree (all known space) in meters for x, y and z dimension. More...
|
| |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| | Size of OcTree (all known space) in meters for x, y and z dimension. More...
|
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| const OcTreeNode * | getNodeChild (const OcTreeNode *node, unsigned int childIdx) const |
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| OcTreeNode * | getNodeChild (OcTreeNode *node, unsigned int childIdx) const |
| |
| double | getNodeSize (unsigned depth) const |
| |
| size_t | getNumLeafNodes () const |
| | Traverses the tree to calculate the total number of leaf nodes. More...
|
| |
| double | getResolution () const |
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| OcTreeNode * | getRoot () const |
| |
| unsigned int | getTreeDepth () const |
| |
| std::string | getTreeType () const |
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| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
| | return centers of leafs that do NOT exist (but could) in a given bounding box More...
|
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| virtual bool | isNodeCollapsible (const OcTreeNode *node) const |
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| point3d | keyToCoord (const OcTreeKey &key) const |
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| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| |
| double | keyToCoord (key_type key) const |
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| double | keyToCoord (key_type key, unsigned depth) const |
| |
| unsigned long long | memoryFullGrid () const |
| |
| virtual size_t | memoryUsage () const |
| |
| virtual size_t | memoryUsageNode () const |
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| bool | nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const |
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| bool | nodeHasChildren (const OcTreeNode *node) const |
| |
| | OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) |
| | Deep copy constructor. More...
|
| |
| | OcTreeBaseImpl (double resolution) |
| |
| bool | operator== (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) const |
| |
| virtual void | prune () |
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| virtual bool | pruneNode (OcTreeNode *node) |
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| std::istream & | readData (std::istream &s) |
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| OcTreeNode * | search (const OcTreeKey &key, unsigned int depth=0) const |
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| OcTreeNode * | search (const point3d &value, unsigned int depth=0) const |
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| OcTreeNode * | search (double x, double y, double z, unsigned int depth=0) const |
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| void | setResolution (double r) |
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| virtual size_t | size () const |
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| void | swapContent (OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) |
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| double | volume () |
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| std::ostream & | writeData (std::ostream &s) const |
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| virtual | ~OcTreeBaseImpl () |
| |
| | AbstractOccupancyOcTree () |
| |
| double | getClampingThresMax () const |
| |
| float | getClampingThresMaxLog () const |
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| double | getClampingThresMin () const |
| |
| float | getClampingThresMinLog () const |
| |
| double | getOccupancyThres () const |
| |
| float | getOccupancyThresLog () const |
| |
| double | getProbHit () const |
| |
| float | getProbHitLog () const |
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| double | getProbMiss () const |
| |
| float | getProbMissLog () const |
| |
| bool | isNodeAtThreshold (const OcTreeNode &occupancyNode) const |
| | queries whether a node is at the clamping threshold according to the tree's parameter More...
|
| |
| bool | isNodeAtThreshold (const OcTreeNode *occupancyNode) const |
| | queries whether a node is at the clamping threshold according to the tree's parameter More...
|
| |
| bool | isNodeOccupied (const OcTreeNode &occupancyNode) const |
| | queries whether a node is occupied according to the tree's parameter for "occupancy" More...
|
| |
| bool | isNodeOccupied (const OcTreeNode *occupancyNode) const |
| | queries whether a node is occupied according to the tree's parameter for "occupancy" More...
|
| |
| bool | readBinary (const std::string &filename) |
| |
| bool | readBinary (std::istream &s) |
| |
| void | setClampingThresMax (double thresProb) |
| | sets the maximum threshold for occupancy clamping (sensor model) More...
|
| |
| void | setClampingThresMin (double thresProb) |
| | sets the minimum threshold for occupancy clamping (sensor model) More...
|
| |
| void | setOccupancyThres (double prob) |
| | sets the threshold for occupancy (sensor model) More...
|
| |
| void | setProbHit (double prob) |
| | sets the probability for a "hit" (will be converted to logodds) - sensor model More...
|
| |
| void | setProbMiss (double prob) |
| | sets the probability for a "miss" (will be converted to logodds) - sensor model More...
|
| |
| 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 () |
| |
| | AbstractOcTree () |
| |
| virtual double | getResolution () const =0 |
| |
| virtual size_t | memoryUsage () const =0 |
| |
| virtual size_t | memoryUsageNode () const =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 | ~AbstractOcTree () |
| |
|
| typedef leaf_iterator | iterator |
| |
| typedef OcTreeNode | NodeType |
| | Make the templated NODE type available from the outside. More...
|
| |
| static AbstractOcTree * | createTree (const std::string id, double res) |
| |
| static AbstractOcTree * | read (const std::string &filename) |
| |
| static AbstractOcTree * | read (std::istream &s) |
| |
| 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) |
| |
| void | allocNodeChildren (OcTreeNode *node) |
| |
| void | calcMinMax () |
| | recalculates min and max in x, y, z. Does nothing when tree size didn't change. More...
|
| |
| 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) |
| | recursive call of deleteNode() More...
|
| |
| void | expandRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth) |
| | recursive call of expand() More...
|
| |
| size_t | getNumLeafNodesRecurs (const OcTreeNode *parent) const |
| |
| void | init () |
| | initialize non-trivial members, helper for constructors More...
|
| |
| | 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) |
| | recursive call of prune() More...
|
| |
| std::istream & | readNodesRecurs (OcTreeNode *, std::istream &s) |
| | recursive call of readData() More...
|
| |
| std::ostream & | writeNodesRecurs (const OcTreeNode *, std::ostream &s) const |
| | recursive call of writeData() More...
|
| |
| bool | readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res) |
| | Try to read the old binary format for conversion, will be removed in the future. More...
|
| |
| static bool | readHeader (std::istream &s, std::string &id, unsigned &size, double &res) |
| |
| static void | registerTreeType (AbstractOcTree *tree) |
| |
| point3d | bbx_max |
| |
| OcTreeKey | bbx_max_key |
| |
| point3d | bbx_min |
| |
| OcTreeKey | bbx_min_key |
| |
| KeyBoolMap | changed_keys |
| | Set of leaf keys (lowest level) which changed since last resetChangeDetection. More...
|
| |
| bool | use_bbx_limit |
| | use bounding box for queries (needs to be set)? More...
|
| |
| bool | use_change_detection |
| |
| std::vector< KeyRay > | keyrays |
| | data structure for ray casting, array for multithreading More...
|
| |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| |
| const leaf_iterator | leaf_iterator_end |
| |
| double | max_value [3] |
| | max in x, y, z More...
|
| |
| double | min_value [3] |
| |
| double | resolution |
| | in meters More...
|
| |
| double | resolution_factor |
| | = 1. / resolution More...
|
| |
| OcTreeNode * | root |
| | Pointer to the root NODE, NULL for empty tree. More...
|
| |
| bool | size_changed |
| | flag to denote whether the octree extent changed (for lazy min/max eval) More...
|
| |
| std::vector< double > | sizeLookupTable |
| | contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More...
|
| |
| point3d | tree_center |
| |
| const unsigned int | tree_depth |
| | Maximum tree depth is fixed to 16 currently. More...
|
| |
| const tree_iterator | tree_iterator_end |
| |
| const unsigned int | tree_max_val |
| |
| size_t | tree_size |
| |
| float | clamping_thres_max |
| |
| float | clamping_thres_min |
| |
| float | occ_prob_thres_log |
| |
| float | prob_hit_log |
| |
| float | prob_miss_log |
| |
Public Member Functions inherited from octomap::OccupancyOcTreeBase< OcTreeNode >