Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...

#include <octree.h>

Inheritance diagram for hpp::fcl::OcTree:

Public Types
typedef octomap::OcTreeNode	OcTreeNode

Public Member Functions
OcTree *	clone () const
	Clone *this into a new CollisionGeometry. More...

void	computeLocalAABB ()
	compute the AABB for the octree in its local coordinate system More...

void	exportAsObjFile (const std::string &filename) const

FCL_REAL	getDefaultOccupancy () const

FCL_REAL	getFreeThres () const
	the threshold used to decide whether one node is free, this is NOT the octree free_threshold More...

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx)

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

NODE_TYPE	getNodeType () const
	return node type, it is an octree More...

OBJECT_TYPE	getObjectType () const
	return object type, it is an octree More...

FCL_REAL	getOccupancyThres () const
	the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold More...

OcTreeNode *	getRoot () const
	get the root node of the octree More...

AABB	getRootBV () const
	get the bounding volume for the root More...

unsigned int	getTreeDepth () const
	Returns the depth of octree. More...

bool	isNodeFree (const OcTreeNode *node) const
	whether one node is completely free More...

bool	isNodeOccupied (const OcTreeNode *node) const
	whether one node is completely occupied More...

bool	isNodeUncertain (const OcTreeNode *node) const
	whether one node is uncertain More...

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const
	return true if the child at childIdx exists More...

bool	nodeHasChildren (const OcTreeNode *node) const
	return true if node has at least one child More...

	OcTree (FCL_REAL resolution)
	construct octree with a given resolution More...

	OcTree (const shared_ptr< const octomap::OcTree > &tree_)
	construct octree from octomap More...

	OcTree (const OcTree &other)

void	setCellDefaultOccupancy (FCL_REAL d)

void	setFreeThres (FCL_REAL d)

void	setOccupancyThres (FCL_REAL d)

std::vector< boost::array< FCL_REAL, 6 > >	toBoxes () const
	transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough). More...

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor. More...

virtual Vec3f	computeCOM () const
	compute center of mass More...

virtual Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

virtual FCL_REAL	computeVolume () const
	compute the volume More...

void *	getUserData () const
	get user data in geometry More...

bool	isFree () const
	whether the object is completely free More...

bool	isOccupied () const
	whether the object is completely occupied More...

bool	isUncertain () const
	whether the object has some uncertainty More...

bool	operator!= (const CollisionGeometry &other) const
	Difference operator. More...

bool	operator== (const CollisionGeometry &other) const
	Equality operator. More...

void	setUserData (void *data)
	set user data in geometry More...

virtual	~CollisionGeometry ()

Private Member Functions
virtual bool	isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

Private Attributes
FCL_REAL	default_occupancy

FCL_REAL	free_threshold

FCL_REAL	occupancy_threshold

shared_ptr< const octomap::OcTree >	tree

Additional Inherited Members
Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

FCL_REAL	aabb_radius
	AABB radius. More...

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

void *	user_data
	pointer to user defined data specific to this object More...

Detailed Description

Octree is one type of collision geometry which can encode uncertainty information in the sensor data.

Definition at line 53 of file octree.h.

Member Typedef Documentation

◆ OcTreeNode

typedef octomap::OcTreeNode hpp::fcl::OcTree::OcTreeNode

Definition at line 63 of file octree.h.

Constructor & Destructor Documentation

◆ OcTree() [1/3]

hpp::fcl::OcTree::OcTree ( FCL_REAL resolution )

inlineexplicit

construct octree with a given resolution

Definition at line 66 of file octree.h.

◆ OcTree() [2/3]

hpp::fcl::OcTree::OcTree ( const shared_ptr< const octomap::OcTree > & tree_ )

inlineexplicit

construct octree from octomap

Definition at line 78 of file octree.h.

◆ OcTree() [3/3]

hpp::fcl::OcTree::OcTree ( const OcTree & other )

inline

Definition at line 88 of file octree.h.

Member Function Documentation

◆ clone()

OcTree* hpp::fcl::OcTree::clone ( ) const

inlinevirtual

Clone *this into a new CollisionGeometry.

Implements hpp::fcl::CollisionGeometry.

Definition at line 95 of file octree.h.

◆ computeLocalAABB()

void hpp::fcl::OcTree::computeLocalAABB ( )

inlinevirtual

compute the AABB for the octree in its local coordinate system

Implements hpp::fcl::CollisionGeometry.

Definition at line 100 of file octree.h.

◆ exportAsObjFile()

void hpp::fcl::OcTree::exportAsObjFile ( const std::string & filename ) const

Definition at line 107 of file src/octree.cpp.

◆ getDefaultOccupancy()

FCL_REAL hpp::fcl::OcTree::getDefaultOccupancy ( ) const

inline

Definition at line 171 of file octree.h.

◆ getFreeThres()

FCL_REAL hpp::fcl::OcTree::getFreeThres ( ) const

inline

the threshold used to decide whether one node is free, this is NOT the octree free_threshold

Definition at line 169 of file octree.h.

◆ getNodeChild() [1/2]

OcTreeNode* hpp::fcl::OcTree::getNodeChild	(	OcTreeNode *	node,
		unsigned int	childIdx
	)

inline

Returns: ptr to child number childIdx of node

Definition at line 180 of file octree.h.

◆ getNodeChild() [2/2]

const OcTreeNode* hpp::fcl::OcTree::getNodeChild	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

Returns: const ptr to child number childIdx of node

Definition at line 189 of file octree.h.

◆ getNodeType()

NODE_TYPE hpp::fcl::OcTree::getNodeType ( ) const

inlinevirtual

return node type, it is an octree

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 220 of file octree.h.

◆ getObjectType()

OBJECT_TYPE hpp::fcl::OcTree::getObjectType ( ) const

inlinevirtual

return object type, it is an octree

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 217 of file octree.h.

◆ getOccupancyThres()

FCL_REAL hpp::fcl::OcTree::getOccupancyThres ( ) const

inline

the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

Definition at line 165 of file octree.h.

◆ getRoot()

OcTreeNode* hpp::fcl::OcTree::getRoot ( ) const

inline

get the root node of the octree

Definition at line 118 of file octree.h.

◆ getRootBV()

AABB hpp::fcl::OcTree::getRootBV ( ) const

inline

get the bounding volume for the root

Definition at line 107 of file octree.h.

◆ getTreeDepth()

unsigned int hpp::fcl::OcTree::getTreeDepth ( ) const

inline

Returns the depth of octree.

Definition at line 115 of file octree.h.

◆ isEqual()

virtual bool hpp::fcl::OcTree::isEqual ( const CollisionGeometry & other ) const

inlineprivatevirtual

equal operator with another object of derived type.

Implements hpp::fcl::CollisionGeometry.

Definition at line 223 of file octree.h.

◆ isNodeFree()

bool hpp::fcl::OcTree::isNodeFree ( const OcTreeNode * node ) const

inline

whether one node is completely free

Definition at line 127 of file octree.h.

◆ isNodeOccupied()

bool hpp::fcl::OcTree::isNodeOccupied ( const OcTreeNode * node ) const

inline

whether one node is completely occupied

Definition at line 121 of file octree.h.

◆ isNodeUncertain()

bool hpp::fcl::OcTree::isNodeUncertain ( const OcTreeNode * node ) const

inline

whether one node is uncertain

Definition at line 133 of file octree.h.

◆ nodeChildExists()

bool hpp::fcl::OcTree::nodeChildExists	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

return true if the child at childIdx exists

Definition at line 199 of file octree.h.

◆ nodeHasChildren()

bool hpp::fcl::OcTree::nodeHasChildren ( const OcTreeNode * node ) const

inline

return true if node has at least one child

Definition at line 208 of file octree.h.

◆ setCellDefaultOccupancy()

void hpp::fcl::OcTree::setCellDefaultOccupancy ( FCL_REAL d )

inline

Definition at line 173 of file octree.h.

◆ setFreeThres()

void hpp::fcl::OcTree::setFreeThres ( FCL_REAL d )

inline

Definition at line 177 of file octree.h.

◆ setOccupancyThres()

void hpp::fcl::OcTree::setOccupancyThres ( FCL_REAL d )

inline

Definition at line 175 of file octree.h.

◆ toBoxes()

std::vector<boost::array<FCL_REAL, 6> > hpp::fcl::OcTree::toBoxes ( ) const

inline

transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).

Definition at line 140 of file octree.h.

Member Data Documentation

◆ default_occupancy

FCL_REAL hpp::fcl::OcTree::default_occupancy

private

Definition at line 57 of file octree.h.

◆ free_threshold

FCL_REAL hpp::fcl::OcTree::free_threshold

private

Definition at line 60 of file octree.h.

◆ occupancy_threshold

FCL_REAL hpp::fcl::OcTree::occupancy_threshold

private

Definition at line 59 of file octree.h.

◆ tree

shared_ptr<const octomap::OcTree> hpp::fcl::OcTree::tree

private

Definition at line 55 of file octree.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ OcTreeNode

Constructor & Destructor Documentation

◆ OcTree() [1/3]

◆ OcTree() [2/3]

◆ OcTree() [3/3]

Member Function Documentation

◆ clone()

◆ computeLocalAABB()

◆ exportAsObjFile()

◆ getDefaultOccupancy()

◆ getFreeThres()

◆ getNodeChild() [1/2]

◆ getNodeChild() [2/2]

◆ getNodeType()

◆ getObjectType()

◆ getOccupancyThres()

◆ getRoot()

◆ getRootBV()

◆ getTreeDepth()

◆ isEqual()

◆ isNodeFree()

◆ isNodeOccupied()

◆ isNodeUncertain()

◆ nodeChildExists()

◆ nodeHasChildren()

◆ setCellDefaultOccupancy()

◆ setFreeThres()

◆ setOccupancyThres()

◆ toBoxes()

Member Data Documentation

◆ default_occupancy

◆ free_threshold

◆ occupancy_threshold

◆ tree