.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_OcTreeStamped.h:

Program Listing for File OcTreeStamped.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_OcTreeStamped.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/OcTreeStamped.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_STAMPED_H
   #define OCTOMAP_OCTREE_STAMPED_H
   
   
   #include <octomap/OcTreeNode.h>
   #include <octomap/OccupancyOcTreeBase.h>
   #include <ctime>
   
   namespace octomap {
   
     // node definition
     class OcTreeNodeStamped : public OcTreeNode {
   
     public:
       OcTreeNodeStamped() : OcTreeNode(), timestamp(0) {}
   
       OcTreeNodeStamped(const OcTreeNodeStamped& rhs) : OcTreeNode(rhs), timestamp(rhs.timestamp) {}
   
       bool operator==(const OcTreeNodeStamped& rhs) const{
         return (rhs.value == value && rhs.timestamp == timestamp);
       }
   
       void copyData(const OcTreeNodeStamped& from){
         OcTreeNode::copyData(from);
         timestamp = from.getTimestamp();
       }
   
       // timestamp
       inline unsigned int getTimestamp() const { return timestamp; }
       inline void updateTimestamp() { timestamp = (unsigned int) time(NULL);}
       inline void setTimestamp(unsigned int t) {timestamp = t; }
   
       // update occupancy and timesteps of inner nodes
       inline void updateOccupancyChildren() {
         this->setLogOdds(this->getMaxChildLogOdds());  // conservative
         updateTimestamp();
       }
   
     protected:
       unsigned int timestamp;
     };
   
   
     // tree definition
     class OcTreeStamped : public OccupancyOcTreeBase <OcTreeNodeStamped> {
   
     public:
         OcTreeStamped(double resolution);
   
       OcTreeStamped* create() const {return new OcTreeStamped(resolution); }
   
       std::string getTreeType() const {return "OcTreeStamped";}
   
       unsigned int getLastUpdateTime();
   
       void degradeOutdatedNodes(unsigned int time_thres);
   
       virtual void updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const;
       void integrateMissNoTime(OcTreeNodeStamped* node) const;
   
     protected:
       class StaticMemberInitializer{
       public:
         StaticMemberInitializer() {
           OcTreeStamped* tree = new OcTreeStamped(0.1);
           tree->clearKeyRays();
           AbstractOcTree::registerTreeType(tree);
         }
   
         void ensureLinking() {}
       };
       static StaticMemberInitializer ocTreeStampedMemberInit;
   
     };
   
   } // end namespace
   
   #endif