34 #ifndef OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H 35 #define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
float getProbHitLog() const
virtual ~AbstractOccupancyOcTree()
bool isNodeAtThreshold(const OcTreeNode *occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
double getClampingThresMax() const
double getProbMiss() const
double getProbHit() const
bool isNodeAtThreshold(const OcTreeNode &occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
void setClampingThresMax(double thresProb)
sets the maximum threshold for occupancy clamping (sensor model)
void setProbHit(double prob)
sets the probability for a "hit" (will be converted to logodds) - sensor model
bool isNodeOccupied(const OcTreeNode &occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
double probability(double logodds)
compute probability from logodds:
virtual size_t size() const =0
float getProbMissLog() const
void setProbMiss(double prob)
sets the probability for a "miss" (will be converted to logodds) - sensor model
float getClampingThresMaxLog() const
virtual void toMaxLikelihood()=0
virtual std::ostream & writeBinaryData(std::ostream &s) const =0
Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
float getClampingThresMinLog() const
virtual OcTreeNode * updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
bool writeBinary(const std::string &filename)
bool writeBinaryConst(const std::string &filename) const
double getClampingThresMin() const
double getOccupancyThres() const
This class represents a three-dimensional vector.
static const std::string binaryFileHeader
void setOccupancyThres(double prob)
sets the threshold for occupancy (sensor model)
AbstractOccupancyOcTree()
bool readBinary(std::istream &s)
float logodds(double probability)
compute log-odds from probability:
bool readBinaryLegacyHeader(std::istream &s, unsigned int &size, double &res)
Try to read the old binary format for conversion, will be removed in the future.
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
float getOccupancyThresLog() const
virtual std::istream & readBinaryData(std::istream &s)=0
Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
void setClampingThresMin(double thresProb)
sets the minimum threshold for occupancy clamping (sensor model)