.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_Pointcloud.h:

Program Listing for File Pointcloud.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_Pointcloud.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/Pointcloud.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_POINTCLOUD_H
   #define OCTOMAP_POINTCLOUD_H
   
   #include <vector>
   #include <list>
   #include <octomap/octomap_types.h>
   
   namespace octomap {
   
     class Pointcloud {
   
     public:
   
       Pointcloud();
       ~Pointcloud();
   
       Pointcloud(const Pointcloud& other);
       Pointcloud(Pointcloud* other);
   
       size_t size() const {  return points.size(); }
       void clear();
       inline void reserve(size_t size) {points.reserve(size); }
   
       inline void push_back(float x, float y, float z) {
         points.push_back(point3d(x,y,z));
       }
       inline void push_back(const point3d& p) {
         points.push_back(p);
       }
       inline void push_back(point3d* p) {
          points.push_back(*p);
       }
   
       void push_back(const Pointcloud& other);
   
       void writeVrml(std::string filename);
   
       void transform(pose6d transform);
   
       void rotate(double roll, double pitch, double yaw);
   
       void transformAbsolute(pose6d transform);
   
       void calcBBX(point3d& lowerBound, point3d& upperBound) const;
       void crop(point3d lowerBound, point3d upperBound);
   
       // removes any points closer than [thres] to (0,0,0)
       void minDist(double thres);
   
       void subSampleRandom(unsigned int num_samples, Pointcloud& sample_cloud);
   
       // iterators ------------------
   
       typedef point3d_collection::iterator iterator;
       typedef point3d_collection::const_iterator const_iterator;
       iterator begin() { return points.begin(); }
       iterator end()   { return points.end(); }
       const_iterator begin() const { return points.begin(); }
       const_iterator end() const  { return points.end(); }
       point3d back()  { return points.back(); }
       point3d getPoint(unsigned int i) const;   // may return NULL
   
       inline const point3d& operator[] (size_t i) const { return points[i]; }
       inline point3d& operator[] (size_t i) { return points[i]; }
   
       // I/O methods
   
       std::istream& readBinary(std::istream &s);
       std::istream& read(std::istream &s);
       std::ostream& writeBinary(std::ostream &s) const;
   
     protected:
       pose6d               current_inv_transform;
       point3d_collection   points;
     };
   
   }
   
   
   #endif