Class OcTree

Defined in File OcTree.h

Nested Relationships

Nested Types

Class OcTree::StaticMemberInitializer

Inheritance Relationships

Base Type

public octomap::OccupancyOcTreeBase< OcTreeNode > (Template Class OccupancyOcTreeBase)

Class Documentation

class OcTree : public octomap::OccupancyOcTreeBase<OcTreeNode>

octomap main map data structure, stores 3D occupancy grid map in an OcTree. Basic functionality is implemented in OcTreeBase.

Public Functions

OcTree(double resolution): Default constructor, sets resolution of leafs.

OcTree(std::string _filename)

Reads an OcTree from a binary file

Parameters:: _filename –

inline virtual ~OcTree()

inline OcTree *create() const: virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

inline std::string getTreeType() const

Protected Static Attributes

static StaticMemberInitializer ocTreeMemberInit: to ensure static initialization (only once)

class StaticMemberInitializer

Static member object which ensures that this OcTree’s prototype ends up in the classIDMapping only once. You need this as a static member in any derived octree class in order to read .ot files through the AbstractOcTree factory. You should also call ensureLinking() once from the constructor.

Public Functions

inline StaticMemberInitializer()

inline void ensureLinking(): Dummy function to ensure that MSVC does not drop the StaticMemberInitializer, causing this tree failing to register. Needs to be called from the constructor of this octree.