.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_MapNode.hxx:

Program Listing for File MapNode.hxx
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_MapNode.hxx>` (``/tmp/ws/src/octomap/octomap/include/octomap/MapNode.hxx``)

.. |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.
    */
   
   namespace octomap {
   
     template <class TREETYPE>
     MapNode<TREETYPE>::MapNode(): node_map(0) {
     }
   
     template <class TREETYPE>
     MapNode<TREETYPE>::MapNode(TREETYPE* in_node_map, pose6d in_origin) {
       this->node_map = in_node_map;
       this->origin = in_origin;
     }
   
     template <class TREETYPE>
     MapNode<TREETYPE>::MapNode(const Pointcloud& in_cloud, pose6d in_origin): node_map(0) {
     }
   
     template <class TREETYPE>
     MapNode<TREETYPE>::MapNode(std::string filename, pose6d in_origin): node_map(0){
       readMap(filename);
       this->origin = in_origin;
       id = filename;
     }
   
     template <class TREETYPE>
     MapNode<TREETYPE>::~MapNode() {
       clear();
     }
   
     template <class TREETYPE>
     void MapNode<TREETYPE>::updateMap(const Pointcloud& cloud, point3d sensor_origin) {
     }
   
     template <class TREETYPE>
     Pointcloud MapNode<TREETYPE>::generatePointcloud() {
       Pointcloud pc;
       point3d_list occs;
       node_map->getOccupied(occs);
       for(point3d_list::iterator it = occs.begin(); it != occs.end(); ++it){
           pc.push_back(*it);
       }
       return pc;
     }
   
     template <class TREETYPE>
     void MapNode<TREETYPE>::clear(){
       if(node_map != 0){
           delete node_map;
           node_map = 0;
           id = "";
           origin = pose6d(0.0,0.0,0.0,0.0,0.0,0.0);
       }
     }
   
     template <class TREETYPE>
     bool MapNode<TREETYPE>::readMap(std::string filename){
       if(node_map != 0)
           delete node_map;
   
       node_map = new TREETYPE(0.05);
       return node_map->readBinary(filename);
     }
   
     template <class TREETYPE>
     bool MapNode<TREETYPE>::writeMap(std::string filename){
       return node_map->writeBinary(filename);
     }
   
   } // namespace