DEPRECATED wrapper class for OctoMap Octrees. Is is recommended to use the OctoMap libary and octomap_ros/conversions.h directly instead! More...
#include <OctomapROS.h>
Public Types | |
typedef OctreeT::NodeType | NodeType |
Type of the wrapped octree's nodes. | |
typedef OctreeT | OcTreeType |
Type of the wrapped octree. | |
Public Member Functions | |
template<class PointT > | |
bool | castRay (const PointT &origin, const PointT &direction, PointT &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
Performs raycasting in 3d. | |
template<class PointT > | |
bool | insertRay (const PointT &origin, const PointT &end, double maxRange=-1.0) |
Insert one ray between origin and end into the tree. The last node will be marked as occupied, all others on the ray as free. | |
template<class PointT > | |
void | insertScan (const sensor_msgs::PointCloud2 &scan, const PointT &origin, double maxrange=-1., bool pruning=true, bool dirty=false) |
Integrate a Pointcloud measurement (ROS msg, in global reference frame) | |
template<class PCLPointT , class PointT > | |
void | insertScan (const pcl::PointCloud< PCLPointT > &scan, const PointT &origin, double maxrange=-1., bool pruning=true, bool dirty=false) |
Integrate a Pointcloud measurement (in global reference frame) | |
template<class PCLPointT , class PCLQuaternionT > | |
void | insertScan (const pcl::PointCloud< PCLPointT > &scan, const PCLPointT &sensor_origin, const PCLPointT &frame_origin_trans, const PCLQuaternionT &frame_origin_rot, double maxrange=-1., bool pruning=true, bool dirty=false) |
Integrate a 3d scan in relative coordinates, transform scan before tree update. | |
OctomapROS (double resolution) __attribute__((deprecated)) | |
OctomapROS (OctreeT tree) __attribute__((deprecated)) | |
template<class PointT > | |
OctreeT::NodeType * | search (const PointT &point) const |
Search for a Node in the octree at a given coordinate. You need to check if a node is found at all (returned pointer != NULL). | |
OctreeT::NodeType * | search (const tf::Point &point) const |
virtual | ~OctomapROS () |
Public Attributes | |
OctreeT | octree |
the wrapped OctoMap octree |
DEPRECATED wrapper class for OctoMap Octrees. Is is recommended to use the OctoMap libary and octomap_ros/conversions.h directly instead!
Definition at line 67 of file OctomapROS.h.
typedef OctreeT::NodeType octomap::OctomapROS< OctreeT >::NodeType |
Type of the wrapped octree's nodes.
Definition at line 166 of file OctomapROS.h.
typedef OctreeT octomap::OctomapROS< OctreeT >::OcTreeType |
Type of the wrapped octree.
Definition at line 165 of file OctomapROS.h.
octomap::OctomapROS< OctreeT >::OctomapROS | ( | double | resolution | ) |
Definition at line 184 of file OctomapROS.h.
octomap::OctomapROS< OctreeT >::OctomapROS | ( | OctreeT | tree | ) |
virtual octomap::OctomapROS< OctreeT >::~OctomapROS | ( | ) | [inline, virtual] |
Definition at line 71 of file OctomapROS.h.
bool octomap::OctomapROS< OctreeT >::castRay | ( | const PointT & | origin, |
const PointT & | direction, | ||
PointT & | end, | ||
bool | ignoreUnknownCells = false , |
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double | maxRange = -1.0 |
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) | const |
Performs raycasting in 3d.
A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.
origin | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
direction | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
end | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
ignoreUnknownCells | whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit. |
maxRange | Maximum range after which the raycast is aborted (<= 0: no limit, default) |
Definition at line 247 of file OctomapROS.h.
bool octomap::OctomapROS< OctreeT >::insertRay | ( | const PointT & | origin, |
const PointT & | end, | ||
double | maxRange = -1.0 |
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) |
Insert one ray between origin and end into the tree. The last node will be marked as occupied, all others on the ray as free.
origin | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
end | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
maxRange |
Definition at line 238 of file OctomapROS.h.
void octomap::OctomapROS< OctreeT >::insertScan | ( | const sensor_msgs::PointCloud2 & | scan, |
const PointT & | origin, | ||
double | maxrange = -1. , |
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bool | pruning = true , |
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bool | dirty = false |
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) |
Integrate a Pointcloud measurement (ROS msg, in global reference frame)
scan | PointCloud2 of measurement endpoints |
origin | Origin of the scan. Any type of Point that has x,y,z member (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) |
pruning | whether the tree is (losslessly) pruned after insertion (default: true) |
dirty | whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 226 of file OctomapROS.h.
void octomap::OctomapROS< OctreeT >::insertScan | ( | const pcl::PointCloud< PCLPointT > & | scan, |
const PointT & | origin, | ||
double | maxrange = -1. , |
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bool | pruning = true , |
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bool | dirty = false |
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) |
Integrate a Pointcloud measurement (in global reference frame)
scan | pcl PointCloud of arbitrary type. Only the members x,y,z of the Points are used. |
origin | Origin of the scan. Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) |
pruning | whether the tree is (losslessly) pruned after insertion (default: true) This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 194 of file OctomapROS.h.
void octomap::OctomapROS< OctreeT >::insertScan | ( | const pcl::PointCloud< PCLPointT > & | scan, |
const PCLPointT & | sensor_origin, | ||
const PCLPointT & | frame_origin_trans, | ||
const PCLQuaternionT & | frame_origin_rot, | ||
double | maxrange = -1. , |
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bool | pruning = true , |
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bool | dirty = false |
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) |
Integrate a 3d scan in relative coordinates, transform scan before tree update.
pc | Pointcloud (measurement endpoints) relative to frame origin |
sensor_origin | origin of sensor relative to frame origin |
frame_origin_trans | Translation of reference frame origin, determines transform to be applied to cloud and sensor origin |
frame_origin_rot | Rotation (as quaternion) of reference frame origin, determines transform to be applied to cloud and sensor origin |
maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) |
pruning | whether the tree is (losslessly) pruned after insertion (default: true) This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 207 of file OctomapROS.h.
OctreeT::NodeType * octomap::OctomapROS< OctreeT >::search | ( | const PointT & | point | ) | const |
Search for a Node in the octree at a given coordinate. You need to check if a node is found at all (returned pointer != NULL).
point | The searched coordinate. Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
Definition at line 264 of file OctomapROS.h.
OctreeT::NodeType * octomap::OctomapROS< OctreeT >::search | ( | const tf::Point & | point | ) | const |
Definition at line 269 of file OctomapROS.h.
OctreeT octomap::OctomapROS< OctreeT >::octree |
the wrapped OctoMap octree
Definition at line 163 of file OctomapROS.h.