Public Member Functions | List of all members
octomap::OcTreeNode Class Reference

#include <OcTreeNode.h>

Inheritance diagram for octomap::OcTreeNode:
Inheritance graph
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Public Member Functions

void addValue (const float &p)
 adds p to the node's logOdds value (with no boundary / threshold checking!) More...
 
float getLogOdds () const
 
float getMaxChildLogOdds () const
 
double getMeanChildLogOdds () const
 
double getOccupancy () const
 
 OcTreeNode ()
 
void setLogOdds (float l)
 sets log odds occupancy of node More...
 
void updateOccupancyChildren ()
 update this node's occupancy according to its children's maximum occupancy More...
 
 ~OcTreeNode ()
 
- Public Member Functions inherited from octomap::OcTreeDataNode< float >
void copyData (const OcTreeDataNode &from)
 
float getValue () const
 
 OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const)
 
 OCTOMAP_DEPRECATED (bool hasChildren() const)
 
 OcTreeDataNode ()
 
 OcTreeDataNode (float initVal)
 
 OcTreeDataNode (const OcTreeDataNode &rhs)
 
bool operator== (const OcTreeDataNode &rhs) const
 Equals operator, compares if the stored value is identical. More...
 
std::istream & readData (std::istream &s)
 Read node payload (data only) from binary stream. More...
 
void setValue (float v)
 sets value to be stored in the node More...
 
std::ostream & writeData (std::ostream &s) const
 Write node payload (data only) to binary stream. More...
 
 ~OcTreeDataNode ()
 

Additional Inherited Members

- Public Types inherited from octomap::OcTreeDataNode< float >
typedef float DataType
 Make the templated data type available from the outside. More...
 
- Protected Member Functions inherited from octomap::OcTreeDataNode< float >
void allocChildren ()
 
- Protected Attributes inherited from octomap::OcTreeDataNode< float >
AbstractOcTreeNode ** children
 
float value
 stored data (payload) More...
 

Detailed Description

Nodes to be used in OcTree. They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.

Note: If you derive a class (directly or indirectly) from OcTreeNode or OcTreeDataNode, you have to implement (at least) the following functions: createChild(), getChild(), getChild() const, expandNode() to avoid slicing errors and memory-related bugs. See ColorOcTreeNode in ColorOcTree.h for an example.

Definition at line 55 of file OcTreeNode.h.

Constructor & Destructor Documentation

◆ OcTreeNode()

octomap::OcTreeNode::OcTreeNode ( )

Definition at line 45 of file OcTreeNode.cpp.

◆ ~OcTreeNode()

octomap::OcTreeNode::~OcTreeNode ( )

Definition at line 50 of file OcTreeNode.cpp.

Member Function Documentation

◆ addValue()

void octomap::OcTreeNode::addValue ( const float &  p)

adds p to the node's logOdds value (with no boundary / threshold checking!)

Definition at line 91 of file OcTreeNode.cpp.

◆ getLogOdds()

float octomap::OcTreeNode::getLogOdds ( ) const
inline
Returns
log odds representation of occupancy probability of node

Definition at line 68 of file OcTreeNode.h.

◆ getMaxChildLogOdds()

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const
Returns
maximum of children's occupancy probabilities, in log odds

Definition at line 76 of file OcTreeNode.cpp.

◆ getMeanChildLogOdds()

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const
Returns
mean of all children's occupancy probabilities, in log odds

Definition at line 58 of file OcTreeNode.cpp.

◆ getOccupancy()

double octomap::OcTreeNode::getOccupancy ( ) const
inline
Returns
occupancy probability of node

Definition at line 65 of file OcTreeNode.h.

◆ setLogOdds()

void octomap::OcTreeNode::setLogOdds ( float  l)
inline

sets log odds occupancy of node

Definition at line 70 of file OcTreeNode.h.

◆ updateOccupancyChildren()

void octomap::OcTreeNode::updateOccupancyChildren ( )
inline

update this node's occupancy according to its children's maximum occupancy

Definition at line 83 of file OcTreeNode.h.


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


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32