Class AbstractOccupancyOcTree

Inheritance Relationships

Base Type

Derived Types

Class Documentation

class AbstractOccupancyOcTree : public octomap::AbstractOcTree

Interface class for all octree types that store occupancy. This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Subclassed by octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >

Public Functions

AbstractOccupancyOcTree()
inline virtual ~AbstractOccupancyOcTree()
bool writeBinary(const std::string &filename)

Writes OcTree to a binary file using writeBinary(). The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns:

success of operation

bool writeBinary(std::ostream &s)

Writes compressed maximum likelihood OcTree to a binary stream. The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns:

success of operation

bool writeBinaryConst(const std::string &filename) const

Writes OcTree to a binary file using writeBinaryConst(). The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns:

success of operation

bool writeBinaryConst(std::ostream &s) const

Writes the maximum likelihood OcTree to a binary stream (const variant). Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns:

success of operation

virtual std::ostream &writeBinaryData(std::ostream &s) const = 0

Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()

bool readBinary(std::istream &s)

Reads an OcTree from an input stream. Existing nodes of the tree are deleted before the tree is read.

Returns:

success of operation

bool readBinary(const std::string &filename)

Reads OcTree from a binary file. Existing nodes of the tree are deleted before the tree is read.

Returns:

success of operation

virtual std::istream &readBinaryData(std::istream &s) = 0

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

inline bool isNodeOccupied(const OcTreeNode *occupancyNode) const

queries whether a node is occupied according to the tree’s parameter for “occupancy”

inline bool isNodeOccupied(const OcTreeNode &occupancyNode) const

queries whether a node is occupied according to the tree’s parameter for “occupancy”

inline bool isNodeAtThreshold(const OcTreeNode *occupancyNode) const

queries whether a node is at the clamping threshold according to the tree’s parameter

inline bool isNodeAtThreshold(const OcTreeNode &occupancyNode) const

queries whether a node is at the clamping threshold according to the tree’s parameter

virtual OcTreeNode *updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval = false) = 0

Manipulate log_odds value of voxel directly

Parameters:

  • key – of the NODE that is to be updated

  • log_odds_update – value to be added (+) to log_odds value of node

  • lazy_eval – whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:

pointer to the updated NODE

virtual OcTreeNode *updateNode(const point3d &value, float log_odds_update, bool lazy_eval = false) = 0

Manipulate log_odds value of voxel directly. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

  • value – 3d coordinate of the NODE that is to be updated

  • log_odds_update – value to be added (+) to log_odds value of node

  • lazy_eval – whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:

pointer to the updated NODE

virtual OcTreeNode *updateNode(const OcTreeKey &key, bool occupied, bool lazy_eval = false) = 0

Integrate occupancy measurement.

Parameters:

  • key – of the NODE that is to be updated

  • occupied – true if the node was measured occupied, else false

  • lazy_eval – whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:

pointer to the updated NODE

virtual OcTreeNode *updateNode(const point3d &value, bool occupied, bool lazy_eval = false) = 0

Integrate occupancy measurement. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

  • value – 3d coordinate of the NODE that is to be updated

  • occupied – true if the node was measured occupied, else false

  • lazy_eval – whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:

pointer to the updated NODE

virtual void toMaxLikelihood() = 0
inline void setOccupancyThres(double prob)

sets the threshold for occupancy (sensor model)

inline void setProbHit(double prob)

sets the probability for a “hit” (will be converted to logodds) - sensor model

inline void setProbMiss(double prob)

sets the probability for a “miss” (will be converted to logodds) - sensor model

inline void setClampingThresMin(double thresProb)

sets the minimum threshold for occupancy clamping (sensor model)

inline void setClampingThresMax(double thresProb)

sets the maximum threshold for occupancy clamping (sensor model)

inline double getOccupancyThres() const
Returns:

threshold (probability) for occupancy - sensor model

inline float getOccupancyThresLog() const
Returns:

threshold (logodds) for occupancy - sensor model

inline double getProbHit() const
Returns:

probability for a “hit” in the sensor model (probability)

inline float getProbHitLog() const
Returns:

probability for a “hit” in the sensor model (logodds)

inline double getProbMiss() const
Returns:

probability for a “miss” in the sensor model (probability)

inline float getProbMissLog() const
Returns:

probability for a “miss” in the sensor model (logodds)

inline double getClampingThresMin() const
Returns:

minimum threshold for occupancy clamping in the sensor model (probability)

inline float getClampingThresMinLog() const
Returns:

minimum threshold for occupancy clamping in the sensor model (logodds)

inline double getClampingThresMax() const
Returns:

maximum threshold for occupancy clamping in the sensor model (probability)

inline float getClampingThresMaxLog() const
Returns:

maximum threshold for occupancy clamping in the sensor model (logodds)

Protected Functions

bool readBinaryLegacyHeader(std::istream &s, unsigned int &size, double &res)

Try to read the old binary format for conversion, will be removed in the future.

Protected Attributes

float clamping_thres_min
float clamping_thres_max
float prob_hit_log
float prob_miss_log
float occ_prob_thres_log

Protected Static Attributes

static const std::string binaryFileHeader