OcTreeContact.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef OCTOMAP_OCTREECONTACT_H_
00037 #define OCTOMAP_OCTREECONTACT_H_
00038 
00039 
00040 #include <octomap/OcTree.h>
00041 
00042 namespace octomap {
00048   class OcTreeContact : public OcTree
00049   {
00050    public:
00051      inline bool isNodeFree(const OcTreeNode* occupancy_node) const {
00052        return (occupancy_node->getLogOdds() <= free_prob_thres_log_);
00053      }
00054      inline bool isNodeFree(const OcTreeNode& occupancy_node) const {
00055        return (occupancy_node.getLogOdds() <= free_prob_thres_log_);
00056      }
00057      inline bool isNodeUnknown(const OcTreeNode* occupancy_node) const {
00058        return (!isNodeOccupied(occupancy_node) and !isNodeFree(occupancy_node));
00059      }
00060      inline bool isNodeUnknown(const OcTreeNode& occupancy_node) const {
00061        return (!isNodeOccupied(occupancy_node) and !isNodeFree(occupancy_node));
00062      }
00063 
00064      void setFreeThres(double prob) { free_prob_thres_log_ = logodds(prob); }
00065      void setProbHitContactSensor(double prob) { prob_hit_contact_sensor_log_ = logodds(prob); }
00066      void setProbMissContactSensor(double prob) { prob_miss_contact_sensor_log_ = logodds(prob); }
00067 
00068      double getFreeThres() const { return probability(free_prob_thres_log_); }
00069      float getFreeThresLog() const { return free_prob_thres_log_; }
00070 
00071      double getProbHitContactSensor() const { return probability(prob_hit_contact_sensor_log_); }
00072      float getProbHitContactSensorLog() const { return prob_hit_contact_sensor_log_; }
00073      double getProbMissContactSensor() const { return probability(prob_miss_contact_sensor_log_); }
00074      float getProbMissContactSensorLog() const { return prob_miss_contact_sensor_log_; }
00075 
00076      float prob_hit_contact_sensor_log_;
00077      float prob_miss_contact_sensor_log_;
00078      float free_prob_thres_log_;
00079 
00080      OcTreeContact(double resolution) : OcTree(resolution)
00081      {
00082        setOccupancyThres(0.7);   // = 0.0 in logodds
00083        setFreeThres(0.3);   // = 0.0 in logodds
00084        setProbMiss(0.2);         // = -0.4 in logodds
00085        setProbHitContactSensor(0.7);
00086        setProbMissContactSensor(0.1);
00087      }
00088    };
00089 } // end namespace
00090 
00091 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43