octomap Namespace Reference

Namespaces
	ColorOcTreeNode
	OcTreeKey

Classes
class	AbstractOccupancyOcTree
class	AbstractOcTree
class	AbstractOcTreeNode
class	ColorOcTree
class	ColorOcTreeNode
class	CountingOcTree
class	CountingOcTreeNode
class	KeyRay
class	MapCollection
class	MapNode
class	OccupancyOcTreeBase
class	OcTree
class	OcTreeBase
class	OcTreeBaseImpl
class	OcTreeDataNode
class	OcTreeKey
class	OcTreeNode
class	OcTreeNodeStamped
class	OcTreeStamped
class	Pointcloud
class	ScanEdge
class	ScanGraph
class	ScanNode

Typedefs
typedef unsigned char	byte
typedef uint16_t	key_type
typedef unordered_ns::unordered_map< OcTreeKey, bool, OcTreeKey::KeyHash >	KeyBoolMap
typedef unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHash >	KeySet
typedef std::pair< point3d, double >	OcTreeVolume
typedef octomath::Vector3	point3d
typedef std::vector< octomath::Vector3 >	point3d_collection
typedef std::list< octomath::Vector3 >	point3d_list
typedef octomath::Pose6D	pose6d

Functions
uint8_t	computeChildIdx (const OcTreeKey &key, int depth)
void	computeChildKey (unsigned int pos, key_type center_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key)
OcTreeKey	computeIndexKey (key_type level, const OcTreeKey &key)
float	logodds (double probability)
std::ostream &	operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
void	pointCloud2ToOctomap (const sensor_msgs::PointCloud2 &cloud, Pointcloud &octomapCloud)
	Conversion from a sensor_msgs::PointCLoud2 to octomap::Pointcloud, used internally in OctoMap. More...
static octomap::point3d	pointMsgToOctomap (const geometry_msgs::Point &ptMsg)
	Conversion from geometry_msgs::Point to octomap::point3d. More...
static geometry_msgs::Point	pointOctomapToMsg (const point3d &octomapPt)
	Conversion from octomap::point3d to geometry_msgs::Point. More...
static tf::Point	pointOctomapToTf (const point3d &octomapPt)
	Conversion from octomap::point3d to tf::Point. More...
void	pointsOctomapToPointCloud2 (const point3d_list &points, sensor_msgs::PointCloud2 &cloud)
	Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to sensor_msgs::PointCloud2. More...
static octomap::point3d	pointTfToOctomap (const tf::Point &ptTf)
	Conversion from tf::Point to octomap::point3d. More...
static tf::Pose	poseOctomapToTf (const octomap::pose6d &octomapPose)
	Conversion from octomap::pose6f to tf::Pose. More...
static octomap::pose6d	poseTfToOctomap (const tf::Pose &poseTf)
	Conversion from tf::Pose to octomap::pose6d. More...
double	probability (double logodds)
static tf::Quaternion	quaternionOctomapToTf (const octomath::Quaternion &octomapQ)
	Conversion from octomap Quaternion to tf::Quaternion. More...
static octomath::Quaternion	quaternionTfToOctomap (const tf::Quaternion &qTf)
	Conversion from tf::Quaternion to octomap Quaternion. More...

Variables
static const int	edgeTable [256]
static const int	triTable [256][16]
static const point3d	vertexList [12]

Detailed Description

OctoMap ROS integration

Author

A. Hornung, University of Freiburg, Copyright (C) 2011-2012.

See also

http://www.ros.org/wiki/octomap_ros License: BSD

OctoMap ROS integration

Author

A. Hornung, University of Freiburg, Copyright (C) 2011.

See also

http://www.ros.org/wiki/octomap_ros License: BSD

Function Documentation

pointCloud2ToOctomap()

void octomap::pointCloud2ToOctomap	(	const sensor_msgs::PointCloud2 &	cloud,
		Pointcloud &	octomapCloud
	)

Conversion from a sensor_msgs::PointCLoud2 to octomap::Pointcloud, used internally in OctoMap.

Parameters

cloud
octomapCloud

Definition at line 92 of file conversions.cpp.

pointMsgToOctomap()

static octomap::point3d octomap::pointMsgToOctomap ( const geometry_msgs::Point &  ptMsg )

inlinestatic

Conversion from geometry_msgs::Point to octomap::point3d.

Definition at line 76 of file conversions.h.

pointOctomapToMsg()

static geometry_msgs::Point octomap::pointOctomapToMsg ( const point3d &  octomapPt )

inlinestatic

Conversion from octomap::point3d to geometry_msgs::Point.

Definition at line 66 of file conversions.h.

pointOctomapToTf()

static tf::Point octomap::pointOctomapToTf ( const point3d &  octomapPt )

inlinestatic

Conversion from octomap::point3d to tf::Point.

Definition at line 81 of file conversions.h.

pointsOctomapToPointCloud2()

void octomap::pointsOctomapToPointCloud2	(	const point3d_list &	points,
		sensor_msgs::PointCloud2 &	cloud
	)

Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to sensor_msgs::PointCloud2.

Parameters

points
cloud

Definition at line 52 of file conversions.cpp.

pointTfToOctomap()

static octomap::point3d octomap::pointTfToOctomap ( const tf::Point &  ptTf )

inlinestatic

Conversion from tf::Point to octomap::point3d.

Definition at line 86 of file conversions.h.

poseOctomapToTf()

static tf::Pose octomap::poseOctomapToTf ( const octomap::pose6d &  octomapPose )

inlinestatic

Conversion from octomap::pose6f to tf::Pose.

Definition at line 101 of file conversions.h.

poseTfToOctomap()

static octomap::pose6d octomap::poseTfToOctomap ( const tf::Pose &  poseTf )

inlinestatic

Conversion from tf::Pose to octomap::pose6d.

Definition at line 106 of file conversions.h.

quaternionOctomapToTf()

static tf::Quaternion octomap::quaternionOctomapToTf ( const octomath::Quaternion &  octomapQ )

inlinestatic

Conversion from octomap Quaternion to tf::Quaternion.

Definition at line 91 of file conversions.h.

quaternionTfToOctomap()

static octomath::Quaternion octomap::quaternionTfToOctomap ( const tf::Quaternion &  qTf )

inlinestatic

Conversion from tf::Quaternion to octomap Quaternion.

Definition at line 96 of file conversions.h.