#include <octree_stamped_native_node.h>

Inheritance diagram for cOctreeStampedNativeNode:

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Public Member Functions
	cOctreeStampedNativeNode ()
	default constructor More...

void	publishOctomap (void)
	function for publishing the octomap More...

	~cOctreeStampedNativeNode ()
	default destructor More...

Public Member Functions inherited from cOctreeStampedNativeRos
	cOctreeStampedNativeRos (const double resolution)
	default constructor More...

void	degradeOutdatedNodes (void)
	degrading outdated nodes More...

virtual	~cOctreeStampedNativeRos ()
	default destructor More...

Public Member Functions inherited from cOctreeBasePaRos< octomap::OcTreeStamped >
bool	addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

virtual void	clear (void)
	clear local timestamps with octomap More...

	cOctreeBasePaRos (double resolution)
	default constructor More...

bool	getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

virtual ros::Time	getLastInsertionTime (void) const

octomap_msgs::OctomapPtr	getOctomap (void) const
	function for getting the binary octomap More...

octomap_msgs::OctomapPtr	getOctomapFull (void) const
	function for getting the full octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcd (const int tree_depth=0, const bool expand=false) const
	function for getting the pointcloud equivalent of the octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const
	similar to getOctomapPcd, but only returning just empty voxels More...

ros::Time	getOutputTime (void) const

bool	getParentKey (const OctKey &current, const int current_level, OctKey &parent) const

geometry_msgs::PointPtr	keyToPoint (const OctKey &key) const
	function for converting from key to point (geometry_msg) More...

void	keyToPoint (const OctKey &key, double &x, double &y, double &z) const
	function for converting from key to real coordinates More...

OctKey	pointToKey (const geometry_msgs::Point &point) const
	functions for converting from point (geometry_msg) to key More...

bool	readFull (const std::string &filename)
	trying to read the given file into the current OcTree More...

virtual void	setLastInsertionTime (const ros::Time &time)

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Member Functions inherited from octomap::OcTreeStamped
OcTreeStamped *	create () const

void	degradeOutdatedNodes (unsigned int time_thres)

unsigned int	getLastUpdateTime ()

std::string	getTreeType () const

void	integrateMissNoTime (OcTreeNodeStamped *node) const

	OcTreeStamped (double resolution)

virtual void	updateNodeLogOdds (OcTreeNodeStamped *node, const float &update) const

Public Member Functions inherited from OccupancyOcTreeBase< OcTreeNodeStamped >
bool	bbxSet () const

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const

KeyBoolMap::const_iterator	changedKeysBegin () const

KeyBoolMap::const_iterator	changedKeysEnd () const

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	enableChangeDetection (bool enable)

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const point3d &p) const

bool	inBBX (const OcTreeKey &key) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)

virtual void	integrateHit (OcTreeNodeStamped *occupancyNode) const

virtual void	integrateMiss (OcTreeNodeStamped *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (OcTreeNodeStamped *occupancyNode) const

virtual void	nodeToMaxLikelihood (OcTreeNodeStamped &occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (double resolution)

	OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNodeStamped > &rhs)

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, OcTreeNodeStamped *node)

void	resetChangeDetection ()

void	setBBXMax (point3d &max)

void	setBBXMin (point3d &min)

virtual OcTreeNodeStamped *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNodeStamped *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNodeStamped *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

virtual OcTreeNodeStamped *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual OcTreeNodeStamped *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)

virtual OcTreeNodeStamped *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)

virtual OcTreeNodeStamped *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual OcTreeNodeStamped *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)

virtual OcTreeNodeStamped *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

virtual void	updateNodeLogOdds (OcTreeNodeStamped *occupancyNode, const float &update) const

void	useBBXLimit (bool enable)

std::ostream &	writeBinaryData (std::ostream &s) const

std::ostream &	writeBinaryNode (std::ostream &s, const OcTreeNodeStamped *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const

key_type	adjustKeyAtDepth (key_type key, unsigned int depth) const

iterator	begin (unsigned char maxDepth=0) const

leaf_iterator	begin_leafs (unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const

tree_iterator	begin_tree (unsigned char maxDepth=0) const

size_t	calcNumNodes () const

void	clearKeyRays ()

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const

OcTreeKey	coordToKey (double x, double y, double z) const

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const

key_type	coordToKey (double coordinate) const

key_type	coordToKey (double coordinate, unsigned depth) const

OcTreeKey	coordToKey (const point3d &coord) const

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const

OcTreeNodeStamped *	createNodeChild (OcTreeNodeStamped *node, unsigned int childIdx)

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

void	deleteNodeChild (OcTreeNodeStamped *node, unsigned int childIdx)

const iterator	end () const

const leaf_iterator	end_leafs () const

const leaf_bbx_iterator	end_leafs_bbx () const

const tree_iterator	end_tree () const

virtual void	expand ()

virtual void	expandNode (OcTreeNodeStamped *node)

virtual void	getMetricMax (double &x, double &y, double &z)

void	getMetricMax (double &x, double &y, double &z) const

virtual void	getMetricMin (double &x, double &y, double &z)

void	getMetricMin (double &x, double &y, double &z) const

virtual void	getMetricSize (double &x, double &y, double &z)

virtual void	getMetricSize (double &x, double &y, double &z) const

const OcTreeNodeStamped *	getNodeChild (const OcTreeNodeStamped *node, unsigned int childIdx) const

OcTreeNodeStamped *	getNodeChild (OcTreeNodeStamped *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const

double	getResolution () const

OcTreeNodeStamped *	getRoot () const

unsigned int	getTreeDepth () const

void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const

virtual bool	isNodeCollapsible (const OcTreeNodeStamped *node) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

double	keyToCoord (key_type key) const

double	keyToCoord (key_type key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const OcTreeNodeStamped *node, unsigned int childIdx) const

bool	nodeHasChildren (const OcTreeNodeStamped *node) const

	OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

bool	operator== (const OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

virtual bool	pruneNode (OcTreeNodeStamped *node)

std::istream &	readData (std::istream &s)

OcTreeNodeStamped *	search (const point3d &value, unsigned int depth=0) const

OcTreeNodeStamped *	search (const OcTreeKey &key, unsigned int depth=0) const

OcTreeNodeStamped *	search (double x, double y, double z, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs)

double	volume ()

std::ostream &	writeData (std::ostream &s) const

virtual	~OcTreeBaseImpl ()

Public Member Functions inherited from octomap::AbstractOccupancyOcTree
	AbstractOccupancyOcTree ()

double	getClampingThresMax () const

float	getClampingThresMaxLog () const

double	getClampingThresMin () const

float	getClampingThresMinLog () const

double	getOccupancyThres () const

float	getOccupancyThresLog () const

double	getProbHit () const

float	getProbHitLog () const

double	getProbMiss () const

float	getProbMissLog () const

bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const

bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const

bool	isNodeOccupied (const OcTreeNode *occupancyNode) const

bool	isNodeOccupied (const OcTreeNode &occupancyNode) const

bool	readBinary (std::istream &s)

bool	readBinary (const std::string &filename)

void	setClampingThresMax (double thresProb)

void	setClampingThresMin (double thresProb)

void	setOccupancyThres (double prob)

void	setProbHit (double prob)

void	setProbMiss (double prob)

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0

bool	writeBinary (const std::string &filename)

bool	writeBinary (std::ostream &s)

bool	writeBinaryConst (std::ostream &s) const

bool	writeBinaryConst (const std::string &filename) const

virtual	~AbstractOccupancyOcTree ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

bool	write (std::ostream &s) const

bool	write (const std::string &filename) const

virtual	~AbstractOcTree ()

Protected Member Functions
void	addLaserCallbackSub (const sensor_msgs::LaserScanConstPtr &msg)
	callback function for receiving a laserscan More...

void	addPointcloudCallbackSub (const sensor_msgs::PointCloud2ConstPtr &msg)
	callback function for receiving a pointcloud More...

void	addPointcloudOldCallbackSub (const sensor_msgs::PointCloudConstPtr &msg)
	callback function for receiving a pointcloud (old format) More...

bool	clearCallbackSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

bool	getSizeCallbackSrv (octomap_pa::OctomapPaGetSize::Request &req, octomap_pa::OctomapPaGetSize::Response &res)

bool	loadCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)

bool	saveCallbackSrv (octomap_pa::OctomapPaFileName::Request &req, octomap_pa::OctomapPaFileName::Response &res)

Protected Member Functions inherited from cOctreeStampedNativeRos
void	checkDegrading (void)
	helper function for automatic degrading More...

Protected Member Functions inherited from cOctreeBasePaRos< octomap::OcTreeStamped >
bool	addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)

void	getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
	helper function for getChildKey More...

void	getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const
	helper function for getOctomapPcd... More...

void	getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const
	helper function for getParentKey More...

Protected Member Functions inherited from OccupancyOcTreeBase< OcTreeNodeStamped >
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

OcTreeNodeStamped *	setNodeValueRecurs (OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (OcTreeNodeStamped *node, unsigned int depth)

OcTreeNodeStamped *	updateNodeRecurs (OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

Protected Member Functions inherited from OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >
void	allocNodeChildren (OcTreeNodeStamped *node)

void	calcMinMax ()

void	calcNumNodesRecurs (OcTreeNodeStamped *node, size_t &num_nodes) const

void	deleteNodeRecurs (OcTreeNodeStamped *node)

bool	deleteNodeRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const OcTreeNodeStamped *parent) const

void	init ()

	OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

void	pruneRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

std::istream &	readNodesRecurs (OcTreeNodeStamped *, std::istream &s)

std::ostream &	writeNodesRecurs (const OcTreeNodeStamped *, std::ostream &s) const

Protected Member Functions inherited from octomap::AbstractOccupancyOcTree
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)

Protected Attributes
cAddCloudParameter	addparams_

int	count_cloud_
	number of inserted pointclouds More...

int	count_cloud_old_
	number of inserted pointclouds (old format) More...

int	count_laser_
	number of inserted laser scans More...

ros::NodeHandle	nh_
	node handler for topic subscription and advertising More...

cOctreeBasePaNodeParameter	nodeparams_
	parameters More...

ros::Publisher	pub_cloud_free_
	puplisher for free voxels as pointcloud More...

ros::Publisher	pub_cloud_occupied_
	puplisher for occupied voxels as pointcloud More...

ros::Publisher	pub_octomap_
	puplisher for the octomap (binary data) More...

ros::Publisher	pub_octomap_full_
	puplisher for the octomap (full data) More...

ros::ServiceServer	srv_clear_
	service for clearing the octomap More...

ros::ServiceServer	srv_getsize_
	service for receiving the size of the octomap More...

ros::ServiceServer	srv_load_
	service for loading a octomap More...

ros::ServiceServer	srv_save_
	service for saving the octomap More...

ros::Subscriber	sub_cloud_
	subscriber for a pointcloud More...

ros::Subscriber	sub_cloud_old_
	subscriber for a pointcloud (old format) More...

ros::Subscriber	sub_laser_
	subscriber for a laserscan More...

tf::TransformListener	tf_listener_
	transformation of different frames More...

Protected Attributes inherited from cOctreeStampedNativeRos
ros::Time	last_degrading_time_

Protected Attributes inherited from cOctreeBasePaRos< octomap::OcTreeStamped >
ros::Time	current_output_time_
	internal variable for storing current output time More...

ros::Time	last_insertion_time_
	internal variable for storing last insertion time More...

Protected Attributes inherited from OccupancyOcTreeBase< OcTreeNodeStamped >
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys

bool	use_bbx_limit

bool	use_change_detection

Protected Attributes inherited from OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]

double	min_value [3]

double	resolution

double	resolution_factor

OcTreeNodeStamped *	root

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Protected Attributes inherited from octomap::AbstractOccupancyOcTree
float	clamping_thres_max

float	clamping_thres_min

float	occ_prob_thres_log

float	prob_hit_log

float	prob_miss_log

Additional Inherited Members
Public Types inherited from cOctreeStampedNativeRos
typedef cOctreeBasePaRos< OcTreeStamped >	TreeTypeBase

Public Types inherited from cOctreeBasePaRos< octomap::OcTreeStamped >
typedef ::octomap::OcTreeKey	OctKey

typedef pcl::PointCloud< pcl::PointXYZ >	PclPointCloud

typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr	PclPointCloudConstPtr

typedef pcl::PointCloud< pcl::PointXYZ >::Ptr	PclPointCloudPtr

typedef octomap::OcTreeStamped	TreeTypeBase

typedef cOctreeBasePaRos< octomap::OcTreeStamped >	TreeTypeFull

Public Types inherited from OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef OcTreeNodeStamped	NodeType

Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree *	createTree (const std::string id, double res)

static AbstractOcTree *	read (std::istream &s)

static AbstractOcTree *	read (const std::string &filename)

Public Attributes inherited from cOctreeStampedNativeRos
cOctreeStampedPaRosParameter	rosparams_
	parameters More...

Public Attributes inherited from cOctreeBasePaRos< octomap::OcTreeStamped >
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Static Protected Member Functions inherited from octomap::AbstractOcTree
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)

static void	registerTreeType (AbstractOcTree *tree)

Static Protected Attributes inherited from octomap::OcTreeStamped
static StaticMemberInitializer	ocTreeStampedMemberInit

Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree
static const std::string	binaryFileHeader

Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string	fileHeader