.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_OcTreeNode.h:

Program Listing for File OcTreeNode.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_OcTreeNode.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/OcTreeNode.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_OCTREE_NODE_H
   #define OCTOMAP_OCTREE_NODE_H
   
   #include "octomap_types.h"
   #include "octomap_utils.h"
   #include "OcTreeDataNode.h"
   #include <limits>
   
   namespace octomap {
   
     class OcTreeNode : public OcTreeDataNode<float> {
   
     public:
       OcTreeNode();
       ~OcTreeNode();
   
       
       // -- node occupancy  ----------------------------
   
       inline double getOccupancy() const { return probability(value); }
   
       inline float getLogOdds() const{ return value; }
       inline void setLogOdds(float l) { value = l; }
   
       double getMeanChildLogOdds() const;
   
       float getMaxChildLogOdds() const;
   
       inline void updateOccupancyChildren() {
         this->setLogOdds(this->getMaxChildLogOdds());  // conservative
       }
   
       void addValue(const float& p);
       
   
     protected:
       // "value" stores log odds occupancy probability
     };
   
   } // end namespace
   
   #endif