#include <octonode.h>

Classes
class	StaticMemberInitializer
Public Types
typedef EModelTreeNode	tNode
	Used node type.
typedef octomap::point3d	tPoint
	Used point type.
typedef pcl::PointCloud < pcl::PointXYZRGB >	typePointCloud
Public Member Functions
EModelTreeNode *	averageNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	averageNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EMOcTree *	create () const
void	degradeOutdatedNodes (unsigned int time_thres)
	EMOcTree (double _resolution)
	EMOcTree (std::string _filename)
unsigned int	getLastUpdateTime ()
std::string	getTreeType () const
void	insertColoredScan (const typePointCloud &coloredScan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
void	integrateMissNoTime (EModelTreeNode *node) const
EModelTreeNode *	integrateNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	integrateNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	setNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	setNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
void	updateInnerOccupancy ()
virtual void	updateNodeLogOdds (EModelTreeNode *node, const float &update) const
virtual	~EMOcTree ()
Protected Member Functions
void	updateInnerOccupancyRecurs (EModelTreeNode *node, unsigned int depth)
Static Protected Attributes
static StaticMemberInitializer	ocEMOcTreeMemberInit
	to ensure static initialization (only once)

Detailed Description

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

Definition at line 149 of file octonode.h.

Member Typedef Documentation

typedef EModelTreeNode srs_env_model::EMOcTree::tNode

Used node type.

Definition at line 156 of file octonode.h.

typedef octomap::point3d srs_env_model::EMOcTree::tPoint

Used point type.

Definition at line 153 of file octonode.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> srs_env_model::EMOcTree::typePointCloud

Definition at line 158 of file octonode.h.

Constructor & Destructor Documentation

srs_env_model::EMOcTree::EMOcTree ( double _resolution )

Creates a new (empty) OcTree of a given resolution

Parameters:

_resolution

Definition at line 212 of file octonode.cpp.

srs_env_model::EMOcTree::EMOcTree ( std::string _filename )

Reads an OcTree from a binary file

Parameters:

_filename

Definition at line 223 of file octonode.cpp.

virtual srs_env_model::EMOcTree::~EMOcTree ( ) [inline, virtual]

Destructor

Definition at line 178 of file octonode.h.

Member Function Documentation

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::averageNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 241 of file octonode.cpp.

EModelTreeNode* srs_env_model::EMOcTree::averageNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)		`[inline]`

Definition at line 214 of file octonode.h.

EMOcTree* srs_env_model::EMOcTree::create ( ) const [inline]

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

Definition at line 184 of file octonode.h.

void srs_env_model::EMOcTree::degradeOutdatedNodes ( unsigned int time_thres )

Definition at line 321 of file octonode.cpp.

unsigned int srs_env_model::EMOcTree::getLastUpdateTime ( )

Returns:: timestamp of last update

Definition at line 315 of file octonode.cpp.

std::string srs_env_model::EMOcTree::getTreeType ( ) const [inline]

Get tree type as a string.

Definition at line 191 of file octonode.h.

void srs_env_model::EMOcTree::insertColoredScan	(	const typePointCloud &	coloredScan,
		const octomap::point3d &	sensor_origin,
		double	maxrange = `-1.`,
		bool	pruning = `true`,
		bool	lazy_eval = `false`
	)

Definition at line 343 of file octonode.cpp.

void srs_env_model::EMOcTree::integrateMissNoTime ( EModelTreeNode * node ) const

Definition at line 339 of file octonode.cpp.

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::integrateNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 264 of file octonode.cpp.

EModelTreeNode* srs_env_model::EMOcTree::integrateNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)		`[inline]`

Definition at line 229 of file octonode.h.

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::setNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 231 of file octonode.cpp.

EModelTreeNode* srs_env_model::EMOcTree::setNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)		`[inline]`

Definition at line 200 of file octonode.h.

void srs_env_model::EMOcTree::updateInnerOccupancy ( )

Definition at line 294 of file octonode.cpp.

void srs_env_model::EMOcTree::updateInnerOccupancyRecurs	(	EModelTreeNode *	node,
		unsigned int	depth
	)		`[protected]`

Definition at line 298 of file octonode.cpp.

void srs_env_model::EMOcTree::updateNodeLogOdds	(	EModelTreeNode *	node,
		const float &	update
	)		const `[virtual]`

Definition at line 333 of file octonode.cpp.

Member Data Documentation

srs_env_model::EMOcTree::StaticMemberInitializer srs_env_model::EMOcTree::ocEMOcTreeMemberInit [static, protected]

to ensure static initialization (only once)

Definition at line 273 of file octonode.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation