.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_MapNode.h:

Program Listing for File MapNode.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_MapNode.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/MapNode.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_NODE_H
   #define OCTOMAP_MAP_NODE_H
   
   
   #include <string>
   #include <octomap/OcTree.h>
   
   namespace octomap {
   
     template <class TREETYPE>
       class MapNode {
       
     public:
       MapNode();
       MapNode(TREETYPE* node_map, pose6d origin);
       MapNode(std::string filename, pose6d origin);
       MapNode(const Pointcloud& cloud, pose6d origin);
       ~MapNode();
   
       typedef TREETYPE TreeType;
   
       TREETYPE* getMap() { return  node_map; }
       
       void updateMap(const Pointcloud& cloud, point3d sensor_origin);
   
       inline std::string getId() { return id; }
       inline void setId(std::string newid) { id = newid; }
   
       inline pose6d getOrigin() { return origin; }
   
       // returns cloud of voxel centers in global reference frame
       Pointcloud generatePointcloud();
       bool writeMap(std::string filename);
   
     protected:
       TREETYPE*    node_map;  // occupancy grid map
       pose6d       origin;    // origin and orientation relative to parent
       std::string  id;
   
       void clear();
       bool readMap(std::string filename);
   
     };
   
   } // end namespace
   
   #include "octomap/MapNode.hxx"
   
   #endif