OcTree.h
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #ifndef OCTOMAP_OCTREE_H
00035 #define OCTOMAP_OCTREE_H
00036 
00037 
00038 #include "OccupancyOcTreeBase.h"
00039 #include "OcTreeNode.h"
00040 #include "ScanGraph.h"
00041 
00042 namespace octomap {
00043 
00049   class OcTree : public OccupancyOcTreeBase <OcTreeNode> {
00050 
00051   public:
00053     OcTree(double resolution) : OccupancyOcTreeBase<OcTreeNode>(resolution) {};
00054 
00060     OcTree(std::string _filename);
00061 
00062     virtual ~OcTree(){};
00063 
00066     OcTree* create() const {return new OcTree(resolution); }
00067 
00068     std::string getTreeType() const {return "OcTree";}
00069 
00070 
00071   protected:
00076     class StaticMemberInitializer{
00077     public:
00078       StaticMemberInitializer() {
00079         OcTree* tree = new OcTree(0.1);
00080         AbstractOcTree::registerTreeType(tree);
00081       }
00082     };
00084     static StaticMemberInitializer ocTreeMemberInit;
00085   };
00086 
00087 } // end namespace
00088 
00089 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Feb 12 2016 02:12:35