#include <OcTreeBaseImpl.h>
Public Types | |
| typedef leaf_iterator | iterator |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. | |
Public Member Functions | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| unsigned short int | adjustKeyAtDepth (unsigned short int key, unsigned int depth) const |
| iterator | begin (unsigned char maxDepth=0) const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. | |
| void | clear () |
| Deletes the complete tree structure. | |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| unsigned short int | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. | |
| unsigned short int | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. | |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
| bool | coordToKeyChecked (double coordinate, unsigned short int &key) const |
| bool | coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| bool | deleteNode (const point3d &value, unsigned int depth=0) |
| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
| const iterator | end () const |
| const leaf_iterator | end_leafs () const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| const tree_iterator | end_tree () const |
| virtual void | expand () |
| virtual void | getMetricMax (double &x, double &y, double &z) |
| maximum value of the bounding box of all known space in x, y, z | |
| void | getMetricMax (double &x, double &y, double &z) const |
| maximum value of the bounding box of all known space in x, y, z | |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z | |
| void | getMetricMin (double &x, double &y, double &z) const |
| minimum value of the bounding box of all known space in x, y, z | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. | |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. | |
| double | getResolution () const |
| NODE * | getRoot () const |
| unsigned int | getTreeDepth () const |
| std::string | getTreeType () const |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box | |
| double | keyToCoord (unsigned short int key, unsigned depth) const |
| double | keyToCoord (unsigned short int key) const |
| point3d | keyToCoord (const OcTreeKey &key) const |
| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| unsigned long long | memoryFullGrid () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| OcTreeBaseImpl (double resolution) | |
| OcTreeBaseImpl (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) | |
| Deep copy constructor. | |
| bool | operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const |
| virtual void | prune () |
| std::istream & | readData (std::istream &s) |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| NODE * | search (const point3d &value, unsigned int depth=0) const |
| NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
| void | setResolution (double r) |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< NODE, INTERFACE > &rhs) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| virtual | ~OcTreeBaseImpl () |
Protected Member Functions | |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. | |
| void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
| bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() | |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() | |
Protected Attributes | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z | |
| double | min_value [3] |
| double | resolution |
| in meters | |
| double | resolution_factor |
| = 1. / resolution | |
| NODE * | root |
| Pointer to the root NODE, NULL for empty tree. | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) | |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
Private Member Functions | |
| OcTreeBaseImpl< NODE, INTERFACE > & | operator= (const OcTreeBaseImpl< NODE, INTERFACE > &) |
Detailed Description
template<class NODE, class INTERFACE>
class octomap::OcTreeBaseImpl< NODE, INTERFACE >
OcTree base class, to be used with with any kind of OcTreeDataNode.
This tree implementation currently has a maximum depth of 16 nodes. For this reason, coordinates values have to be, e.g., below +/- 327.68 meters (2^15) at a maximum resolution of 0.01m.
This limitation enables the use of an efficient key generation method which uses the binary representation of the data point coordinates.
- Note:
- You should probably not use this class directly, but OcTreeBase or OccupancyOcTreeBase instead
- Template Parameters:
-
NODE Node class to be used in tree (usually derived from OcTreeDataNode) INTERFACE Interface to be derived from, should be either AbstractOcTree or AbstractOccupancyOcTree
Definition at line 72 of file OcTreeBaseImpl.h.
Member Typedef Documentation
| typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator |
Definition at line 264 of file OcTreeBaseImpl.h.
| typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType |
Make the templated NODE type available from the outside.
Definition at line 76 of file OcTreeBaseImpl.h.
Constructor & Destructor Documentation
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | double | resolution | ) |
| virtual octomap::OcTreeBaseImpl< NODE, INTERFACE >::~OcTreeBaseImpl | ( | ) | [virtual] |
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) |
Deep copy constructor.
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | double | resolution, |
| unsigned int | tree_depth, | ||
| unsigned int | tree_max_val | ||
| ) | [protected] |
Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!
Member Function Documentation
| OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth | ( | const OcTreeKey & | key, |
| unsigned int | depth | ||
| ) | const [inline] |
Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
- Parameters:
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns:
- Key for the new depth level
Definition at line 340 of file OcTreeBaseImpl.h.
| unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth | ( | unsigned short int | key, |
| unsigned int | depth | ||
| ) | const |
Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)
- Parameters:
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns:
- Key for the new depth level
| iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin | ( | unsigned char | maxDepth = 0 | ) | const [inline] |
- Returns:
- beginning of the tree as leaf iterator
Definition at line 268 of file OcTreeBaseImpl.h.
| leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs | ( | unsigned char | maxDepth = 0 | ) | const [inline] |
- Returns:
- beginning of the tree as leaf iterator
Definition at line 273 of file OcTreeBaseImpl.h.
| leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx | ( | const OcTreeKey & | min, |
| const OcTreeKey & | max, | ||
| unsigned char | maxDepth = 0 |
||
| ) | const [inline] |
- Returns:
- beginning of the tree as leaf iterator in a bounding box
Definition at line 278 of file OcTreeBaseImpl.h.
| leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx | ( | const point3d & | min, |
| const point3d & | max, | ||
| unsigned char | maxDepth = 0 |
||
| ) | const [inline] |
- Returns:
- beginning of the tree as leaf iterator in a bounding box
Definition at line 282 of file OcTreeBaseImpl.h.
| tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_tree | ( | unsigned char | maxDepth = 0 | ) | const [inline] |
- Returns:
- beginning of the tree as iterator to all nodes (incl. inner)
Definition at line 289 of file OcTreeBaseImpl.h.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax | ( | ) | [protected] |
recalculates min and max in x, y, z. Does nothing when tree size didn't change.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodes | ( | ) | const |
Traverses the tree to calculate the total number of nodes.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodesRecurs | ( | NODE * | node, |
| size_t & | num_nodes | ||
| ) | const [protected] |
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::clear | ( | ) |
Deletes the complete tree structure.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRay | ( | const point3d & | origin, |
| const point3d & | end, | ||
| std::vector< point3d > & | ray | ||
| ) |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. You still need to check if a node at that coordinate exists (e.g. with search()).
- Note:
- : use the faster computeRayKeys method if possible.
- Parameters:
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns:
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRayKeys | ( | const point3d & | origin, |
| const point3d & | end, | ||
| KeyRay & | ray | ||
| ) | const |
Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. You still need to check if a node at that coordinate exists (e.g. with search()).
- Parameters:
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns:
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
Reimplemented in octomap::OcTreeBaseSE< NODE >.
| unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | coordinate | ) | const [inline] |
Converts from a single coordinate into a discrete key.
Definition at line 298 of file OcTreeBaseImpl.h.
| unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | coordinate, |
| unsigned | depth | ||
| ) | const |
Converts from a single coordinate into a discrete key at a given depth.
| OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | const point3d & | coord | ) | const [inline] |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 307 of file OcTreeBaseImpl.h.
| OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | x, |
| double | y, | ||
| double | z | ||
| ) | const [inline] |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 312 of file OcTreeBaseImpl.h.
| OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | const point3d & | coord, |
| unsigned | depth | ||
| ) | const [inline] |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 317 of file OcTreeBaseImpl.h.
| OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned | depth | ||
| ) | const [inline] |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 325 of file OcTreeBaseImpl.h.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | const point3d & | coord, |
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters:
-
coord 3d coordinate of a point key values that will be computed, an array of fixed size 3.
- Returns:
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | const point3d & | coord, |
| unsigned | depth, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters:
-
coord 3d coordinate of a point depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns:
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | x, |
| double | y, | ||
| double | z, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters:
-
x y z key values that will be computed, an array of fixed size 3.
- Returns:
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned | depth, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters:
-
x y z depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns:
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| unsigned short int & | key | ||
| ) | const |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters:
-
coordinate 3d coordinate of a point key discrete 16 bit adressing key, result
- Returns:
- true if coordinate is within the octree bounds (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| unsigned | depth, | ||
| unsigned short int & | key | ||
| ) | const |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters:
-
coordinate 3d coordinate of a point depth level of the key from the top key discrete 16 bit adressing key, result
- Returns:
- true if coordinate is within the octree bounds (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given a 3d point. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | const point3d & | value, |
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given a 3d point. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | const OcTreeKey & | key, |
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given an addressing key. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNodeRecurs | ( | NODE * | node, |
| unsigned int | depth, | ||
| unsigned int | max_depth, | ||
| const OcTreeKey & | key | ||
| ) | [protected] |
recursive call of deleteNode()
| const iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end | ( | ) | const [inline] |
- Returns:
- end of the tree as leaf iterator
Definition at line 270 of file OcTreeBaseImpl.h.
| const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs | ( | ) | const [inline] |
- Returns:
- end of the tree as leaf iterator
Definition at line 275 of file OcTreeBaseImpl.h.
| const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx | ( | ) | const [inline] |
- Returns:
- end of the tree as leaf iterator in a bounding box
Definition at line 286 of file OcTreeBaseImpl.h.
| const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree | ( | ) | const [inline] |
- Returns:
- end of the tree as iterator to all nodes (incl. inner)
Definition at line 291 of file OcTreeBaseImpl.h.
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::expand | ( | ) | [virtual] |
Expands all pruned nodes (reverse of prune())
- Note:
- This is an expensive operation, especially when the tree is nearly empty!
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::expandRecurs | ( | NODE * | node, |
| unsigned int | depth, | ||
| unsigned int | max_depth | ||
| ) | [protected] |
recursive call of expand()
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | [virtual] |
maximum value of the bounding box of all known space in x, y, z
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | const |
maximum value of the bounding box of all known space in x, y, z
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | [virtual] |
minimum value of the bounding box of all known space in x, y, z
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | const |
minimum value of the bounding box of all known space in x, y, z
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricSize | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | [virtual] |
Size of OcTree (all known space) in meters for x, y and z dimension.
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricSize | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | const [virtual] |
Size of OcTree (all known space) in meters for x, y and z dimension.
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize | ( | unsigned | depth | ) | const [inline] |
Definition at line 110 of file OcTreeBaseImpl.h.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodes | ( | ) | const |
Traverses the tree to calculate the total number of leaf nodes.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodesRecurs | ( | const NODE * | parent | ) | const [protected] |
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getResolution | ( | ) | const [inline] |
Definition at line 106 of file OcTreeBaseImpl.h.
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot | ( | ) | const [inline] |
- Returns:
- Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself. In an empty tree, root is NULL.
Definition at line 117 of file OcTreeBaseImpl.h.
| unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth | ( | ) | const [inline] |
Definition at line 108 of file OcTreeBaseImpl.h.
| std::string octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeType | ( | ) | const [inline] |
Reimplemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTree, octomap::OcTreeBase< NODE >, and octomap::OcTreeBase< CountingOcTreeNode >.
Definition at line 101 of file OcTreeBaseImpl.h.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters | ( | point3d_list & | node_centers, |
| point3d | pmin, | ||
| point3d | pmax | ||
| ) | const |
return centers of leafs that do NOT exist (but could) in a given bounding box
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::init | ( | ) | [protected] |
initialize non-trivial members, helper for constructors
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | unsigned short int | key, |
| unsigned | depth | ||
| ) | const |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | unsigned short int | key | ) | const [inline] |
converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 425 of file OcTreeBaseImpl.h.
| point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | const OcTreeKey & | key | ) | const [inline] |
converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 431 of file OcTreeBaseImpl.h.
| point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | const OcTreeKey & | key, |
| unsigned | depth | ||
| ) | const [inline] |
converts from an addressing key at a given depth into a coordinate corresponding to the key's center
Definition at line 437 of file OcTreeBaseImpl.h.
| unsigned long long octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryFullGrid | ( | ) | const |
- Returns:
- Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
- Note:
- this can be larger than the adressable memory - size_t may not be enough to hold it!
| virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsage | ( | ) | const [virtual] |
- Returns:
- Memory usage of the complete octree in bytes (may vary between architectures)
| virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsageNode | ( | ) | const [inline, virtual] |
- Returns:
- Memory usage of a single octree node
Definition at line 185 of file OcTreeBaseImpl.h.
| OcTreeBaseImpl<NODE,INTERFACE>& octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator= | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | ) | [private] |
Assignment operator is private: don't (re-)assign octrees (const-parameters can't be changed) - use the copy constructor instead.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator== | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) | const |
Comparison between two octrees, all meta data, all nodes, and the structure must be identical
| virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::prune | ( | ) | [virtual] |
Lossless compression of the octree: A node will replace all of its eight children if they have identical values. You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::pruneRecurs | ( | NODE * | node, |
| unsigned int | depth, | ||
| unsigned int | max_depth, | ||
| unsigned int & | num_pruned | ||
| ) | [protected] |
recursive call of prune()
| std::istream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::readData | ( | std::istream & | s | ) |
Read all nodes from the input stream (without file header), for this the tree needs to be already created. For general file IO, you should probably use AbstractOcTree::read() instead.
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned int | depth = 0 |
||
| ) | const |
Search node at specified depth given a 3d point (depth=0: search full tree depth). You need to check if the returned node is NULL, since it can be in unknown space.
- Returns:
- pointer to node if found, NULL otherwise
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | const point3d & | value, |
| unsigned int | depth = 0 |
||
| ) | const |
Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns:
- pointer to node if found, NULL otherwise
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | const OcTreeKey & | key, |
| unsigned int | depth = 0 |
||
| ) | const |
Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns:
- pointer to node if found, NULL otherwise
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution | ( | double | r | ) |
Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!
| virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::size | ( | ) | const [inline, virtual] |
- Returns:
- The number of nodes in the tree
Definition at line 179 of file OcTreeBaseImpl.h.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent | ( | OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) |
Swap contents of two octrees, i.e., only the underlying pointer / tree structure. You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::volume | ( | ) |
| std::ostream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::writeData | ( | std::ostream & | s | ) | const |
Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)
Member Data Documentation
std::vector<KeyRay> octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyrays [protected] |
data structure for ray casting, array for multithreading
Definition at line 492 of file OcTreeBaseImpl.h.
const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_bbx_end [protected] |
Definition at line 495 of file OcTreeBaseImpl.h.
const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end [protected] |
Definition at line 494 of file OcTreeBaseImpl.h.
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value[3] [protected] |
max in x, y, z
Definition at line 486 of file OcTreeBaseImpl.h.
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value[3] [protected] |
min in x, y, z
Definition at line 487 of file OcTreeBaseImpl.h.
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution [protected] |
in meters
Definition at line 477 of file OcTreeBaseImpl.h.
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution_factor [protected] |
= 1. / resolution
Definition at line 478 of file OcTreeBaseImpl.h.
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::root [protected] |
Pointer to the root NODE, NULL for empty tree.
Definition at line 472 of file OcTreeBaseImpl.h.
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::size_changed [protected] |
flag to denote whether the octree extent changed (for lazy min/max eval)
Definition at line 482 of file OcTreeBaseImpl.h.
std::vector<double> octomap::OcTreeBaseImpl< NODE, INTERFACE >::sizeLookupTable [protected] |
contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
Definition at line 489 of file OcTreeBaseImpl.h.
point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_center [protected] |
Definition at line 484 of file OcTreeBaseImpl.h.
const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth [protected] |
Maximum tree depth is fixed to 16 currently.
Definition at line 475 of file OcTreeBaseImpl.h.
const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_iterator_end [protected] |
Definition at line 496 of file OcTreeBaseImpl.h.
const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val [protected] |
Definition at line 476 of file OcTreeBaseImpl.h.
size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size [protected] |
number of nodes in tree
Definition at line 480 of file OcTreeBaseImpl.h.
The documentation for this class was generated from the following file: