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

#include <octree.h>

Inheritance diagram for coal::OcTree:

Public Types
typedef octomap::OcTreeNode	OcTreeNode

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

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

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

CoalScalar	getDefaultOccupancy () const

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

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

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

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

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

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

CoalScalar	getResolution () const
	Returns the resolution of the octree. More...

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

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

shared_ptr< const octomap::OcTree >	getTree () const
	Returns the tree associated to the underlying octomap OcTree. More...

unsigned int	getTreeDepth () const
	Returns the depth of the 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 (CoalScalar resolution)
	construct octree with a given resolution More...

	OcTree (const OcTree &other)
	More...

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

void	setCellDefaultOccupancy (CoalScalar d)

void	setFreeThres (CoalScalar d)

void	setOccupancyThres (CoalScalar d)

unsigned long	size () const
	Returns the size of the octree. More...

std::vector< Vec6s >	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...

std::vector< uint8_t >	tobytes () const
	Returns a byte description of *this. More...

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

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

virtual Vec3s	computeCOM () const
	compute center of mass More...

virtual Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

virtual CoalScalar	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 ()

Protected Attributes
CoalScalar	default_occupancy

CoalScalar	free_threshold

CoalScalar	occupancy_threshold

shared_ptr< const octomap::OcTree >	tree

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

Additional Inherited Members
Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate. More...

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

CoalScalar	aabb_radius
	AABB radius. More...

CoalScalar	cost_density
	collision cost for unit volume More...

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

CoalScalar	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 coal/octree.h.

Member Typedef Documentation

◆ OcTreeNode

typedef octomap::OcTreeNode coal::OcTree::OcTreeNode

Definition at line 63 of file coal/octree.h.

Constructor & Destructor Documentation

◆ OcTree() [1/3]

coal::OcTree::OcTree ( CoalScalar resolution )

inlineexplicit

construct octree with a given resolution

Definition at line 66 of file coal/octree.h.

◆ OcTree() [2/3]

coal::OcTree::OcTree ( const shared_ptr< const octomap::OcTree > & tree_ )

inlineexplicit

construct octree from octomap

Definition at line 78 of file coal/octree.h.

◆ OcTree() [3/3]

coal::OcTree::OcTree ( const OcTree & other )

inline

Copy constructor

Definition at line 89 of file coal/octree.h.

Member Function Documentation

◆ clone()

OcTree* coal::OcTree::clone ( ) const

inlinevirtual

Clone *this into a new Octree.

Implements coal::CollisionGeometry.

Definition at line 97 of file coal/octree.h.

◆ computeLocalAABB()

void coal::OcTree::computeLocalAABB ( )

inlinevirtual

compute the AABB for the octree in its local coordinate system

Implements coal::CollisionGeometry.

Definition at line 105 of file coal/octree.h.

◆ exportAsObjFile()

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

Definition at line 108 of file src/octree.cpp.

◆ getDefaultOccupancy()

CoalScalar coal::OcTree::getDefaultOccupancy ( ) const

inline

Definition at line 231 of file coal/octree.h.

◆ getFreeThres()

CoalScalar coal::OcTree::getFreeThres ( ) const

inline

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

Definition at line 229 of file coal/octree.h.

◆ getNodeChild() [1/2]

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

inline

Returns: const ptr to child number childIdx of node

Definition at line 249 of file coal/octree.h.

◆ getNodeChild() [2/2]

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

inline

Returns: ptr to child number childIdx of node

Definition at line 240 of file coal/octree.h.

◆ getNodeType()

NODE_TYPE coal::OcTree::getNodeType ( ) const

inlinevirtual

return node type, it is an octree

Reimplemented from coal::CollisionGeometry.

Definition at line 280 of file coal/octree.h.

◆ getObjectType()

OBJECT_TYPE coal::OcTree::getObjectType ( ) const

inlinevirtual

return object type, it is an octree

Reimplemented from coal::CollisionGeometry.

Definition at line 277 of file coal/octree.h.

◆ getOccupancyThres()

CoalScalar coal::OcTree::getOccupancyThres ( ) const

inline

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

Definition at line 225 of file coal/octree.h.

◆ getResolution()

CoalScalar coal::OcTree::getResolution ( ) const

inline

Returns the resolution of the octree.

Definition at line 153 of file coal/octree.h.

◆ getRoot()

OcTreeNode* coal::OcTree::getRoot ( ) const

inline

get the root node of the octree

Definition at line 156 of file coal/octree.h.

◆ getRootBV()

AABB coal::OcTree::getRootBV ( ) const

inline

get the bounding volume for the root

Definition at line 139 of file coal/octree.h.

◆ getTree()

shared_ptr<const octomap::OcTree> coal::OcTree::getTree ( ) const

inline

Returns the tree associated to the underlying octomap OcTree.

Definition at line 100 of file coal/octree.h.

◆ getTreeDepth()

unsigned int coal::OcTree::getTreeDepth ( ) const

inline

Returns the depth of the octree.

Definition at line 147 of file coal/octree.h.

◆ isEqual()

virtual bool coal::OcTree::isEqual ( const CollisionGeometry & other ) const

inlineprivatevirtual

equal operator with another object of derived type.

Implements coal::CollisionGeometry.

Definition at line 283 of file coal/octree.h.

◆ isNodeFree()

bool coal::OcTree::isNodeFree ( const OcTreeNode * node ) const

inline

whether one node is completely free

Definition at line 165 of file coal/octree.h.

◆ isNodeOccupied()

bool coal::OcTree::isNodeOccupied ( const OcTreeNode * node ) const

inline

whether one node is completely occupied

Definition at line 159 of file coal/octree.h.

◆ isNodeUncertain()

bool coal::OcTree::isNodeUncertain ( const OcTreeNode * node ) const

inline

whether one node is uncertain

Definition at line 171 of file coal/octree.h.

◆ nodeChildExists()

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

inline

return true if the child at childIdx exists

Definition at line 259 of file coal/octree.h.

◆ nodeHasChildren()

bool coal::OcTree::nodeHasChildren ( const OcTreeNode * node ) const

inline

return true if node has at least one child

Definition at line 268 of file coal/octree.h.

◆ setCellDefaultOccupancy()

void coal::OcTree::setCellDefaultOccupancy ( CoalScalar d )

inline

Definition at line 233 of file coal/octree.h.

◆ setFreeThres()

void coal::OcTree::setFreeThres ( CoalScalar d )

inline

Definition at line 237 of file coal/octree.h.

◆ setOccupancyThres()

void coal::OcTree::setOccupancyThres ( CoalScalar d )

inline

Definition at line 235 of file coal/octree.h.

◆ size()

unsigned long coal::OcTree::size ( ) const

inline

Returns the size of the octree.

Definition at line 150 of file coal/octree.h.

◆ toBoxes()

std::vector<Vec6s> coal::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 178 of file coal/octree.h.

◆ tobytes()

std::vector<uint8_t> coal::OcTree::tobytes ( ) const

inline

Returns a byte description of *this.

Definition at line 203 of file coal/octree.h.

Member Data Documentation

◆ default_occupancy

CoalScalar coal::OcTree::default_occupancy

protected

Definition at line 57 of file coal/octree.h.

◆ free_threshold

CoalScalar coal::OcTree::free_threshold

protected

Definition at line 60 of file coal/octree.h.

◆ occupancy_threshold

CoalScalar coal::OcTree::occupancy_threshold

protected

Definition at line 59 of file coal/octree.h.

◆ tree

shared_ptr<const octomap::OcTree> coal::OcTree::tree

protected

Definition at line 55 of file coal/octree.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

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()

◆ getResolution()

◆ getRoot()

◆ getRootBV()

◆ getTree()

◆ getTreeDepth()

◆ isEqual()

◆ isNodeFree()

◆ isNodeOccupied()

◆ isNodeUncertain()

◆ nodeChildExists()

◆ nodeHasChildren()

◆ setCellDefaultOccupancy()

◆ setFreeThres()

◆ setOccupancyThres()

◆ size()

◆ toBoxes()

◆ tobytes()

Member Data Documentation

◆ default_occupancy

◆ free_threshold

◆ occupancy_threshold

◆ tree