octomap_msgs: conversions.h File Reference

#include <octomap/octomap.h>
#include <octomap_msgs/Octomap.h>

Include dependency graph for conversions.h:

Namespaces
namespace	octomap_msgs
Functions
template<class OctomapT >
static bool	octomap_msgs::binaryMapToMsg (const OctomapT &octomap, Octomap &msg)
	Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
template<class OctomapT >
static bool	octomap_msgs::binaryMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
static octomap::OcTree *	octomap_msgs::binaryMsgToMap (const Octomap &msg)
	Creates a new octree by deserializing from msg, e.g. from a message or service (binary: only free and occupied .bt file format). This creates a new OcTree object and returns a pointer to it. You will need to free the memory when you're done.
template<class OctomapT >
static bool	octomap_msgs::fullMapToMsg (const OctomapT &octomap, Octomap &msg)
	Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
template<class OctomapT >
static bool	octomap_msgs::fullMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
static octomap::AbstractOcTree *	octomap_msgs::fullMsgToMap (const Octomap &msg)
	Creates a new octree by deserializing from a message that contains the full map information (i.e., binary is false) and returns an AbstractOcTree* to it. You will need to free the memory when you're done.
static octomap::AbstractOcTree *	octomap_msgs::msgToMap (const Octomap &msg)
	Convert an octomap representation to a new octree (full probabilities or binary). You will need to free the memory. Return NULL on error.

Namespaces

Functions