octomap_msgs Namespace Reference

Functions
template<class OctomapT >
static bool	binaryMapToMsg (const OctomapT &octomap, Octomap &msg)
	Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before. More...
template<class OctomapT >
static bool	binaryMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before. More...
static octomap::AbstractOcTree *	binaryMsgToMap (const Octomap &msg)
	Creates a new octree by deserializing from msg, e.g. from a message or service (binary: only free and occupied .bt file format). This creates a new OcTree object and returns a pointer to it. You will need to free the memory when you're done. More...
template<class OctomapT >
static bool	fullMapToMsg (const OctomapT &octomap, Octomap &msg)
	Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before. More...
template<class OctomapT >
static bool	fullMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before. More...
static octomap::AbstractOcTree *	fullMsgToMap (const Octomap &msg)
	Creates a new octree by deserializing from a message that contains the full map information (i.e., binary is false) and returns an AbstractOcTree* to it. You will need to free the memory when you're done. More...
static octomap::AbstractOcTree *	msgToMap (const Octomap &msg)
	Convert an octomap representation to a new octree (full probabilities or binary). You will need to free the memory. Return NULL on error. More...
template<class TreeType >
void	readTree (TreeType *octree, const Octomap &msg)

Detailed Description

OctoMap ROS message conversions / [de-] serialization

Author

A. Hornung, University of Freiburg, Copyright (C) 2011-2013.

See also

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

Function Documentation

template<class OctomapT >

static bool octomap_msgs::binaryMapToMsg ( const OctomapT &  octomap, Octomap &  msg  )

inlinestatic

Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.

Returns

success of serialization

Definition at line 166 of file conversions.h.

template<class OctomapT >

static bool octomap_msgs::binaryMapToMsgData ( const OctomapT &  octomap, std::vector< int8_t > &  mapData  )

inlinestatic

Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.

Returns

success of serialization

Definition at line 130 of file conversions.h.

static octomap::AbstractOcTree* octomap_msgs::binaryMsgToMap ( const Octomap &  msg )

inlinestatic

Creates a new octree by deserializing from msg, e.g. from a message or service (binary: only free and occupied .bt file format). This creates a new OcTree object and returns a pointer to it. You will need to free the memory when you're done.

Definition at line 85 of file conversions.h.

template<class OctomapT >

static bool octomap_msgs::fullMapToMsg ( const OctomapT &  octomap, Octomap &  msg  )

inlinestatic

Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.

Returns

success of serialization

Definition at line 188 of file conversions.h.

template<class OctomapT >

static bool octomap_msgs::fullMapToMsgData ( const OctomapT &  octomap, std::vector< int8_t > &  mapData  )

inlinestatic

Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.

Returns

success of serialization

Definition at line 148 of file conversions.h.

static octomap::AbstractOcTree* octomap_msgs::fullMsgToMap ( const Octomap &  msg )

inlinestatic

Creates a new octree by deserializing from a message that contains the full map information (i.e., binary is false) and returns an AbstractOcTree* to it. You will need to free the memory when you're done.

Definition at line 55 of file conversions.h.

static octomap::AbstractOcTree* octomap_msgs::msgToMap ( const Octomap &  msg )

inlinestatic

Convert an octomap representation to a new octree (full probabilities or binary). You will need to free the memory. Return NULL on error.

Definition at line 110 of file conversions.h.

template<class TreeType >

void octomap_msgs::readTree	(	TreeType *	octree,
		const Octomap &	msg
	)

Definition at line 70 of file conversions.h.