OcTreeStamped.cpp
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
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33 
34 #include "octomap/OcTreeStamped.h"
35 
36 namespace octomap {
37 
38  OcTreeStamped::OcTreeStamped(double resolution)
39  : OccupancyOcTreeBase<OcTreeNodeStamped>(resolution) {
41  }
42 
44  // this value is updated whenever inner nodes are
45  // updated using updateOccupancyChildren()
46  return root->getTimestamp();
47  }
48 
49  void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) {
50  unsigned int query_time = (unsigned int) time(NULL);
51 
52  for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs();
53  it!= end; ++it) {
54  if ( this->isNodeOccupied(*it)
55  && ((query_time - it->getTimestamp()) > time_thres) ) {
56  integrateMissNoTime(&*it);
57  }
58  }
59  }
60 
61  void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const {
63  node->updateTimestamp();
64  }
65 
68  }
69 
71 
72 } // end namespace
73 
virtual void updateNodeLogOdds(OcTreeNodeStamped *node, const float &update) const
update logodds value of node by adding to the current value.
void integrateMissNoTime(OcTreeNodeStamped *node) const
static StaticMemberInitializer ocTreeStampedMemberInit
to ensure static initialization (only once)
unsigned int getLastUpdateTime()
unsigned int getTimestamp() const
Definition: OcTreeStamped.h:62
OcTreeStamped(double resolution)
Default constructor, sets resolution of leafs.
virtual void updateNodeLogOdds(NODE *occupancyNode, const float &update) const
update logodds value of node by adding to the current value.
void degradeOutdatedNodes(unsigned int time_thres)
OcTreeNodeStamped * root
Pointer to the root NODE, NULL for empty tree.
leaf_iterator begin_leafs(unsigned char maxDepth=0) const
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree&#39;s parameter for "occupancy" ...


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Wed Jun 5 2019 19:26:27