.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_AbstractOccupancyOcTree.h:

Program Listing for File AbstractOccupancyOcTree.h
==================================================

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

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

.. code-block:: cpp

   /*
    * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
    * https://octomap.github.io/
    *
    * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved.
    * License: New BSD
    *
    * 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 OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
   #define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
   
   #include "AbstractOcTree.h"
   #include "octomap_utils.h"
   #include "OcTreeNode.h"
   #include "OcTreeKey.h"
   #include <cassert>
   #include <fstream>
   
   
   namespace octomap {
   
     class AbstractOccupancyOcTree : public AbstractOcTree {
     public:
       AbstractOccupancyOcTree();
       virtual ~AbstractOccupancyOcTree() {}
   
       //-- IO
   
       bool writeBinary(const std::string& filename);
   
       bool writeBinary(std::ostream &s);
   
       bool writeBinaryConst(const std::string& filename) const;
   
       bool writeBinaryConst(std::ostream &s) const;
   
       virtual std::ostream& writeBinaryData(std::ostream &s) const = 0;
       
       bool readBinary(std::istream &s);
       
       bool readBinary(const std::string& filename);
   
       virtual std::istream& readBinaryData(std::istream &s) = 0;
   
       // -- occupancy queries
   
       inline bool isNodeOccupied(const OcTreeNode* occupancyNode) const{
         return (occupancyNode->getLogOdds() >= this->occ_prob_thres_log);
       }
   
       inline bool isNodeOccupied(const OcTreeNode& occupancyNode) const{
         return (occupancyNode.getLogOdds() >= this->occ_prob_thres_log);
       }
   
       inline bool isNodeAtThreshold(const OcTreeNode* occupancyNode) const{
         return (occupancyNode->getLogOdds() >= this->clamping_thres_max
             || occupancyNode->getLogOdds() <= this->clamping_thres_min);
       }
   
       inline bool isNodeAtThreshold(const OcTreeNode& occupancyNode) const{
         return (occupancyNode.getLogOdds() >= this->clamping_thres_max
             || occupancyNode.getLogOdds() <= this->clamping_thres_min);
       }
   
       // - update functions
   
       virtual OcTreeNode* updateNode(const OcTreeKey& key, float log_odds_update, bool lazy_eval = false) = 0;
   
       virtual OcTreeNode* updateNode(const point3d& value, float log_odds_update, bool lazy_eval = false) = 0;
   
       virtual OcTreeNode* updateNode(const OcTreeKey& key, bool occupied, bool lazy_eval = false) = 0;
   
       virtual OcTreeNode* updateNode(const point3d& value, bool occupied, bool lazy_eval = false) = 0;
   
       virtual void toMaxLikelihood() = 0;
   
       //-- parameters for occupancy and sensor model:
   
       void setOccupancyThres(double prob){occ_prob_thres_log = logodds(prob); }
       void setProbHit(double prob){prob_hit_log = logodds(prob); assert(prob_hit_log >= 0.0);}
       void setProbMiss(double prob){prob_miss_log = logodds(prob); assert(prob_miss_log <= 0.0);}
       void setClampingThresMin(double thresProb){clamping_thres_min = logodds(thresProb); }
       void setClampingThresMax(double thresProb){clamping_thres_max = logodds(thresProb); }
   
       double getOccupancyThres() const {return probability(occ_prob_thres_log); }
       float getOccupancyThresLog() const {return occ_prob_thres_log; }
   
       double getProbHit() const {return probability(prob_hit_log); }
       float getProbHitLog() const {return prob_hit_log; }
       double getProbMiss() const {return probability(prob_miss_log); }
       float getProbMissLog() const {return prob_miss_log; }
   
       double getClampingThresMin() const {return probability(clamping_thres_min); }
       float getClampingThresMinLog() const {return clamping_thres_min; }
       double getClampingThresMax() const {return probability(clamping_thres_max); }
       float getClampingThresMaxLog() const {return clamping_thres_max; }
   
   
   
   
     protected:
       bool readBinaryLegacyHeader(std::istream &s, unsigned int& size, double& res);
       
       // occupancy parameters of tree, stored in logodds:
       float clamping_thres_min;
       float clamping_thres_max;
       float prob_hit_log;
       float prob_miss_log;
       float occ_prob_thres_log;
   
       static const std::string binaryFileHeader;
     };
   
   } // end namespace
   
   
   #endif