A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap. More...

#include <dynamicEDTOctomap.h>

Inheritance diagram for DynamicEDTOctomap:

Public Member Functions
bool	checkConsistency () const
	Brute force method used for debug purposes. Checks occupancy state consistency between octomap and internal representation. More...

	DynamicEDTOctomap (float maxdist, octomap::OcTree *_octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied)

float	getDistance (const octomap::point3d &p) const
	retrieves distance at point. Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map. More...

float	getDistance (const octomap::OcTreeKey &k) const
	retrieves distance at key. Returns DynamicEDTOctomap::distanceValue_Error if key is outside the map. More...

float	getDistance_unsafe (const octomap::point3d &p) const

float	getDistance_unsafe (const octomap::OcTreeKey &k) const

void	getDistanceAndClosestObstacle (const octomap::point3d &p, float &distance, octomap::point3d &closestObstacle) const

void	getDistanceAndClosestObstacle_unsafe (const octomap::point3d &p, float &distance, octomap::point3d &closestObstacle) const

float	getMaxDist () const
	retrieve maximum distance value More...

int	getSquaredDistanceInCells (const octomap::point3d &p) const
	retrieves squared distance in cells at point. Returns DynamicEDTOctomap::distanceInCellsValue_Error if point is outside the map. More...

int	getSquaredDistanceInCells_unsafe (const octomap::point3d &p) const

int	getSquaredMaxDistCells () const
	retrieve squared maximum distance value in grid cells More...

virtual void	update (bool updateRealDist=true)

virtual	~DynamicEDTOctomap ()

Static Public Attributes
static int	distanceInCellsValue_Error = -1
	distance value returned when requesting distance in cell units for a cell outside the map More...

static float	distanceValue_Error = -1.0
	distance value returned when requesting distance for a cell outside the map More...

Private Member Functions
void	initializeOcTree (octomap::point3d bbxMin, octomap::point3d bbxMax)

void	insertMaxDepthLeafAtInitialize (octomap::OcTreeKey key)

void	mapToWorld (int x, int y, int z, octomap::point3d &p) const

void	mapToWorld (int x, int y, int z, octomap::OcTreeKey &key) const

void	updateMaxDepthLeaf (octomap::OcTreeKey &key, bool occupied)

void	worldToMap (const octomap::point3d &p, int &x, int &y, int &z) const

Private Member Functions inherited from DynamicEDT3D
void	clearCell (int x, int y, int z)
	remove an obstacle at the specified cell coordinate More...

	DynamicEDT3D (int _maxdist_squared)

void	exchangeObstacles (std::vector< INTPOINT3D > newObstacles)
	remove old dynamic obstacles and add the new ones More...

INTPOINT3D	getClosestObstacle (int x, int y, int z) const
	gets the closest occupied cell for that location More...

float	getDistance (int x, int y, int z) const
	returns the obstacle distance at the specified location More...

unsigned int	getSizeX () const
	returns the x size of the workspace/map More...

unsigned int	getSizeY () const
	returns the y size of the workspace/map More...

unsigned int	getSizeZ () const
	returns the z size of the workspace/map More...

int	getSQCellDistance (int x, int y, int z) const
	returns the squared obstacle distance in cell units at the specified location More...

void	initializeEmpty (int _sizeX, int _sizeY, int sizeZ, bool initGridMap=true)
	Initialization with an empty map. More...

void	initializeMap (int _sizeX, int _sizeY, int sizeZ, bool ***_gridMap)
	Initialization with a given binary map (false==free, true==occupied) More...

bool	isOccupied (int x, int y, int z) const
	checks whether the specficied location is occupied More...

void	occupyCell (int x, int y, int z)
	add an obstacle at the specified cell coordinate More...

	~DynamicEDT3D ()

void	inspectCellPropagate (int &nx, int &ny, int &nz, dataCell &c, bool updateRealDist)

void	inspectCellRaise (int &nx, int &ny, int &nz, bool updateRealDist)

void	propagateCell (INTPOINT3D &p, dataCell &c, bool updateRealDist)

void	raiseCell (INTPOINT3D &p, dataCell &c, bool updateRealDist)

void	removeObstacle (int x, int y, int z)

void	setObstacle (int x, int y, int z)

Private Attributes
octomap::OcTreeKey	boundingBoxMaxKey

octomap::OcTreeKey	boundingBoxMinKey

octomap::OcTree *	octree

int	offsetX

int	offsetY

int	offsetZ

int	treeDepth

double	treeResolution

bool	unknownOccupied

Private Attributes inherited from DynamicEDT3D
dataCell ***	data

double	doubleThreshold

bool ***	gridMap

double	maxDist

int	maxDist_squared

int	padding

int	sizeX

int	sizeXm1

int	sizeY

int	sizeYm1

int	sizeZ

int	sizeZm1

double	sqrt2

Additional Inherited Members
Private Types inherited from DynamicEDT3D
enum	ObstDataState { invalidObstData = INT_MAX }

enum	QueueingState { fwNotQueued =1, fwQueued =2, fwProcessed =3, bwQueued =4, bwProcessed =1 }

enum	State { free =0, occupied =1 }

Static Private Attributes inherited from DynamicEDT3D
static int	distanceInCellsValue_Error = -1
	distance value returned when requesting distance in cell units for a cell outside the map More...

static float	distanceValue_Error = -1.0
	distance value returned when requesting distance for a cell outside the map More...

Detailed Description

A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap.

dynamicEDT3D: A library for incrementally updatable Euclidean distance transforms in 3D.

Author: C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.

See also: http://octomap.sourceforge.net/ License: New BSD License

Definition at line 45 of file dynamicEDTOctomap.h.

Constructor & Destructor Documentation

DynamicEDTOctomap::DynamicEDTOctomap	(	float	maxdist,
		octomap::OcTree *	_octree,
		octomap::point3d	bbxMin,
		octomap::point3d	bbxMax,
		bool	treatUnknownAsOccupied
	)

Create a DynamicEDTOctomap object that maintains a distance transform in the bounding box given by bbxMin, bbxMax and clamps distances at maxdist. treatUnknownAsOccupied configures the treatment of unknown cells in the distance computation.

The constructor copies occupancy data but does not yet compute the distance map. You need to call udpate to do this.

The distance map is maintained in a full three-dimensional array, i.e., there exists a float field in memory for every voxel inside the bounding box given by bbxMin and bbxMax. Consider this when computing distance maps for large octomaps, they will use much more memory than the octomap itself!

Definition at line 43 of file dynamicEDTOctomap.cpp.

DynamicEDTOctomap::~DynamicEDTOctomap ( )

virtual

Definition at line 52 of file dynamicEDTOctomap.cpp.

Member Function Documentation

bool DynamicEDTOctomap::checkConsistency ( ) const

Brute force method used for debug purposes. Checks occupancy state consistency between octomap and internal representation.

Definition at line 291 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance ( const octomap::point3d & p ) const

retrieves distance at point. Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.

Definition at line 235 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance ( const octomap::OcTreeKey & k ) const

retrieves distance at key. Returns DynamicEDTOctomap::distanceValue_Error if key is outside the map.

Definition at line 252 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance_unsafe ( const octomap::point3d & p ) const

Definition at line 245 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance_unsafe ( const octomap::OcTreeKey & k ) const

Definition at line 265 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::getDistanceAndClosestObstacle	(	const octomap::point3d &	p,
		float &	distance,
		octomap::point3d &	closestObstacle
	)		const

retrieves distance and closestObstacle (closestObstacle is to be discarded if distance is maximum distance, the method does not write closestObstacle in this case). Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.

Definition at line 202 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::getDistanceAndClosestObstacle_unsafe	(	const octomap::point3d &	p,
		float &	distance,
		octomap::point3d &	closestObstacle
	)		const

Definition at line 220 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getMaxDist ( ) const

inline

retrieve maximum distance value

Definition at line 88 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::getSquaredDistanceInCells ( const octomap::point3d & p ) const

retrieves squared distance in cells at point. Returns DynamicEDTOctomap::distanceInCellsValue_Error if point is outside the map.

Definition at line 274 of file dynamicEDTOctomap.cpp.

int DynamicEDTOctomap::getSquaredDistanceInCells_unsafe ( const octomap::point3d & p ) const

Definition at line 284 of file dynamicEDTOctomap.cpp.

int DynamicEDTOctomap::getSquaredMaxDistCells ( ) const

inline

retrieve squared maximum distance value in grid cells

Definition at line 93 of file dynamicEDTOctomap.h.

void DynamicEDTOctomap::initializeOcTree	(	octomap::point3d	bbxMin,
		octomap::point3d	bbxMax
	)

private

Definition at line 82 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::insertMaxDepthLeafAtInitialize ( octomap::OcTreeKey key )

private

Definition at line 143 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::mapToWorld	(	int	x,
		int	y,
		int	z,
		octomap::point3d &	p
	)		const

private

Definition at line 193 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::mapToWorld	(	int	x,
		int	y,
		int	z,
		octomap::OcTreeKey &	key
	)		const

private

Definition at line 197 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::update ( bool updateRealDist = true )

virtual

trigger updating of the distance map. This will query the octomap for the set of changes since the last update. If you set updateRealDist to false, computations will be faster (square root will be omitted), but you can only retrieve squared distances

Reimplemented from DynamicEDT3D.

Definition at line 57 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::updateMaxDepthLeaf	(	octomap::OcTreeKey &	key,
		bool	occupied
	)

private

Definition at line 179 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::worldToMap	(	const octomap::point3d &	p,
		int &	x,
		int &	y,
		int &	z
	)		const

private

Definition at line 186 of file dynamicEDTOctomap.cpp.

Member Data Documentation

octomap::OcTreeKey DynamicEDTOctomap::boundingBoxMaxKey

private

Definition at line 119 of file dynamicEDTOctomap.h.

octomap::OcTreeKey DynamicEDTOctomap::boundingBoxMinKey

private

Definition at line 118 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::distanceInCellsValue_Error = -1

static

distance value returned when requesting distance in cell units for a cell outside the map

Definition at line 103 of file dynamicEDTOctomap.h.

float DynamicEDTOctomap::distanceValue_Error = -1.0

static

distance value returned when requesting distance for a cell outside the map

dynamicEDT3D: A library for incrementally updatable Euclidean distance transforms in 3D.

Author: C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.

See also: http://octomap.sourceforge.net/ License: New BSD License

Definition at line 101 of file dynamicEDTOctomap.h.

octomap::OcTree* DynamicEDTOctomap::octree

private

Definition at line 114 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::offsetX

private

Definition at line 120 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::offsetY

private

Definition at line 120 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::offsetZ

private

Definition at line 120 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::treeDepth

private

Definition at line 116 of file dynamicEDTOctomap.h.

double DynamicEDTOctomap::treeResolution

private

Definition at line 117 of file dynamicEDTOctomap.h.

bool DynamicEDTOctomap::unknownOccupied

private

Definition at line 115 of file dynamicEDTOctomap.h.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation