.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_MapCollection.h:

Program Listing for File MapCollection.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_MapCollection.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/MapCollection.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_MAP_COLLECTION_H
   #define OCTOMAP_MAP_COLLECTION_H
   
   
   #include <vector>
   #include <octomap/MapNode.h>
   
   namespace octomap {
   
     
     template <class MAPNODE>
     class MapCollection {
     public:
       MapCollection();
       MapCollection(std::string filename);
       ~MapCollection();
   
       void addNode( MAPNODE* node);
       MAPNODE* addNode(const Pointcloud& cloud, point3d sensor_origin);
       bool removeNode(const MAPNODE* n);
       MAPNODE* queryNode(const point3d& p);
   
       bool isOccupied(const point3d& p) const;
       bool isOccupied(float x, float y, float z) const;
   
       double getOccupancy(const point3d& p);
   
       bool castRay(const point3d& origin, const point3d& direction, point3d& end,
                    bool ignoreUnknownCells=false, double maxRange=-1.0) const;
   
       bool writePointcloud(std::string filename);
       bool write(std::string filename);
   
       // TODO
       void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
                       double maxrange=-1., bool pruning=true, bool lazy_eval = false);
       // TODO
       MAPNODE* queryNode(std::string id);
   
       typedef typename std::vector<MAPNODE*>::iterator iterator;
       typedef typename std::vector<MAPNODE*>::const_iterator const_iterator;
       iterator begin() { return nodes.begin(); }
       iterator end()   { return nodes.end(); }
       const_iterator begin() const { return nodes.begin(); }
       const_iterator end() const { return nodes.end(); }
       size_t size() const { return nodes.size(); }
           
     protected:
       void clear();
       bool read(std::string filename);
   
       // TODO
       std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
       // TODO
       MAPNODE* associate(const Pointcloud& scan);
   
       static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
       static std::string combinePathAndFilename(std::string path, std::string filename);
       static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
       
     protected:
   
       std::vector<MAPNODE*> nodes;
     };
   
   } // end namespace
   
   #include "octomap/MapCollection.hxx"
   
   #endif