CountingOcTree.h
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33 
34 #ifndef OCTOMAP_COUNTING_OCTREE_HH
35 #define OCTOMAP_COUNTING_OCTREE_HH
36 
37 
38 #include <stdio.h>
39 #include "OcTreeBase.h"
40 #include "OcTreeDataNode.h"
41 
42 namespace octomap {
43 
53  class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
54 
55  public:
56 
59 
60  inline unsigned int getCount() const { return getValue(); }
61  inline void increaseCount() { value++; }
62  inline void setCount(unsigned c) {this->setValue(c); }
63 
64  };
65 
66 
67 
76  class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
77 
78  public:
80  CountingOcTree(double resolution);
81  virtual CountingOcTreeNode* updateNode(const point3d& value);
83  void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
84 
85  protected:
86 
87  void getCentersMinHitsRecurs( point3d_list& node_centers,
88  unsigned int& min_hits,
89  unsigned int max_depth,
90  CountingOcTreeNode* node, unsigned int depth,
91  const OcTreeKey& parent_key) const;
92 
101  public:
103  CountingOcTree* tree = new CountingOcTree(0.1);
104  tree->clearKeyRays();
106  }
107 
113  void ensureLinking() {};
114  };
117  };
118 
119 
120 }
121 
122 
123 #endif
octomap::CountingOcTreeNode::getCount
unsigned int getCount() const
Definition: CountingOcTree.h:60
octomap::CountingOcTree::StaticMemberInitializer
Definition: CountingOcTree.h:100
octomap::OcTreeDataNode
Definition: OcTreeDataNode.h:63
octomap::OcTreeDataNode< unsigned int >::value
unsigned int value
stored data (payload)
Definition: OcTreeDataNode.h:128
octomap::CountingOcTree
Definition: CountingOcTree.h:76
octomap::CountingOcTree::getCentersMinHitsRecurs
void getCentersMinHitsRecurs(point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const
Definition: CountingOcTree.cpp:102
octomath::Vector3
This class represents a three-dimensional vector.
Definition: Vector3.h:50
octomap::OcTreeDataNode< unsigned int >::setValue
void setValue(unsigned int v)
sets value to be stored in the node
Definition: OcTreeDataNode.h:105
octomap::CountingOcTree::CountingOcTree
CountingOcTree(double resolution)
Default constructor, sets resolution of leafs.
Definition: CountingOcTree.cpp:52
octomap::CountingOcTreeNode::CountingOcTreeNode
CountingOcTreeNode()
implementation of CountingOcTreeNode -------------------------------—
Definition: CountingOcTree.cpp:42
octomap::CountingOcTree::countingOcTreeMemberInit
static StaticMemberInitializer countingOcTreeMemberInit
static member to ensure static initialization (only once)
Definition: CountingOcTree.h:116
octomap::CountingOcTreeNode::~CountingOcTreeNode
~CountingOcTreeNode()
Definition: CountingOcTree.cpp:47
octomap::OcTreeKey
Definition: OcTreeKey.h:70
octomap::CountingOcTreeNode::setCount
void setCount(unsigned c)
Definition: CountingOcTree.h:62
octomap::CountingOcTree::StaticMemberInitializer::ensureLinking
void ensureLinking()
Definition: CountingOcTree.h:113
octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer
StaticMemberInitializer()
Definition: CountingOcTree.h:102
OcTreeDataNode.h
octomap::AbstractOcTree::registerTreeType
static void registerTreeType(AbstractOcTree *tree)
Definition: AbstractOcTree.cpp:205
OcTreeBase.h
octomap::point3d_list
std::list< octomath::Vector3 > point3d_list
Definition: octomap_types.h:54
octomap::OcTreeBase
Definition: OcTreeBase.h:44
octomap::CountingOcTreeNode
Definition: CountingOcTree.h:53
octomap::CountingOcTree::getCentersMinHits
void getCentersMinHits(point3d_list &node_centers, unsigned int min_hits) const
Definition: CountingOcTree.cpp:94
octomap::CountingOcTreeNode::increaseCount
void increaseCount()
Definition: CountingOcTree.h:61
octomap::OcTreeDataNode< unsigned int >::getValue
unsigned int getValue() const
Definition: OcTreeDataNode.h:103
octomap::CountingOcTree::updateNode
virtual CountingOcTreeNode * updateNode(const point3d &value)
Definition: CountingOcTree.cpp:57
octomap
octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::resolution
double resolution
in meters
Definition: OcTreeBaseImpl.h:547
octomap::OcTreeBaseImpl::clearKeyRays
void clearKeyRays()
Definition: OcTreeBaseImpl.h:120


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Sun May 15 2022 02:39:26