.. _program_listing_file__tmp_ws_src_octomap_dynamicEDT3D_include_dynamicEDT3D_dynamicEDTOctomap.h:

Program Listing for File dynamicEDTOctomap.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_dynamicEDT3D_include_dynamicEDT3D_dynamicEDTOctomap.h>` (``/tmp/ws/src/octomap/dynamicEDT3D/include/dynamicEDT3D/dynamicEDTOctomap.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*
    * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the University of Freiburg nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef DYNAMICEDTOCTOMAP_H_
   #define DYNAMICEDTOCTOMAP_H_
   
   #include "dynamicEDT3D.h"
   #include <octomap/OcTree.h>
   #include <octomap/OcTreeStamped.h>
   
   template <class TREE>
   class DynamicEDTOctomapBase: private DynamicEDT3D {
   public:
       DynamicEDTOctomapBase(float maxdist, TREE* _octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied);
   
       virtual ~DynamicEDTOctomapBase();
   
       virtual void update(bool updateRealDist=true);
   
       void getDistanceAndClosestObstacle(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;
   
       float getDistance(const octomap::point3d& p) const;
   
       float getDistance(const octomap::OcTreeKey& k) const;
   
       int getSquaredDistanceInCells(const octomap::point3d& p) const;
   
       //variant of getDistanceAndClosestObstacle that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
       void getDistanceAndClosestObstacle_unsafe(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;
   
       //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
       float getDistance_unsafe(const octomap::point3d& p) const;
   
       //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
       float getDistance_unsafe(const octomap::OcTreeKey& k) const;
   
       //variant of getSquaredDistanceInCells that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
       int getSquaredDistanceInCells_unsafe(const octomap::point3d& p) const;
   
       float getMaxDist() const {
         return maxDist*octree->getResolution();
       }
   
       int getSquaredMaxDistCells() const {
         return maxDist_squared;
       }
   
       bool checkConsistency() const;
   
       static float distanceValue_Error;
       static int distanceInCellsValue_Error;
   
   private:
       void initializeOcTree(octomap::point3d bbxMin, octomap::point3d bbxMax);
       void insertMaxDepthLeafAtInitialize(octomap::OcTreeKey key);
       void updateMaxDepthLeaf(octomap::OcTreeKey& key, bool occupied);
   
       void worldToMap(const octomap::point3d &p, int &x, int &y, int &z) const;
       void mapToWorld(int x, int y, int z, octomap::point3d &p) const;
       void mapToWorld(int x, int y, int z, octomap::OcTreeKey &key) const;
   
       TREE* octree;
       bool unknownOccupied;
       int treeDepth;
       double treeResolution;
       octomap::OcTreeKey boundingBoxMinKey;
       octomap::OcTreeKey boundingBoxMaxKey;
       int offsetX, offsetY, offsetZ;
   };
   
   typedef DynamicEDTOctomapBase<octomap::OcTree> DynamicEDTOctomap;
   typedef DynamicEDTOctomapBase<octomap::OcTreeStamped> DynamicEDTOctomapStamped;
   
   #include "dynamicEDTOctomap.hxx"
   
   #endif /* DYNAMICEDTOCTOMAP_H_ */