Classes | Typedefs | Functions | Variables
octomap Namespace Reference

Classes

class  AbstractOccupancyOcTree
class  AbstractOcTree
class  AbstractOcTreeNode
class  ColorOcTree
class  ColorOcTreeNode
class  CountingOcTree
class  CountingOcTreeNode
struct  equal_keys
 comparator for keys More...
struct  hash_key
class  KeyRay
class  MapCollection
class  MapNode
class  OccupancyOcTreeBase
class  OcTree
class  OcTreeBase
class  OcTreeBaseImpl
class  OcTreeBaseSE
class  OcTreeDataNode
class  OcTreeKey
class  OcTreeLUT
class  OcTreeNode
class  OcTreeNodeStamped
class  OcTreeStamped
class  Pointcloud
class  ScanEdge
class  ScanGraph
class  ScanNode

Typedefs

typedef
unordered_ns::unordered_map
< OcTreeKey, bool,
OcTreeKey::KeyHash
KeyBoolMap
typedef
unordered_ns::unordered_set
< OcTreeKey,
OcTreeKey::KeyHash
KeySet
typedef std::pair< point3d,
double > 
OcTreeVolume
 A voxel defined by its center point3d and its side length.
typedef octomath::Vector3 point3d
 Use Vector3 (float precision) as a point3d in octomap.
typedef std::vector
< octomath::Vector3
point3d_collection
typedef std::list
< octomath::Vector3
point3d_list
typedef octomath::Pose6D pose6d
 Use our Pose6D (float precision) as pose6d in octomap.

Functions

unsigned char computeChildIdx (const OcTreeKey &key, int depth)
 generate child index (between 0 and 7) from key at given tree depth
void computeChildKey (const unsigned int &pos, const unsigned short int &center_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key)
OcTreeKey computeIndexKey (unsigned short int level, const OcTreeKey &key)
float logodds (double probability)
 compute log-odds from probability:
std::ostream & operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
 user friendly output in format (r g b)
double probability (double logodds)
 compute probability from logodds:

Variables

static const int edgeTable [256]
static const int triTable [256][16]
static const point3d vertexList [12]

Detailed Description

Namespace the OctoMap library and visualization tools

Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbourke.net/geometry/polygonise/ Used with permission here under BSD license.


Typedef Documentation

typedef unordered_ns::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap

Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)

Definition at line 119 of file OcTreeKey.h.

typedef unordered_ns::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet

Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.

Note:
you need to use boost::unordered_set instead if your compiler does not yet support tr1!

Definition at line 112 of file OcTreeKey.h.

typedef std::pair<point3d, double> octomap::OcTreeVolume

A voxel defined by its center point3d and its side length.

Definition at line 56 of file octomap_types.h.

Use Vector3 (float precision) as a point3d in octomap.

Definition at line 48 of file octomap_types.h.

Definition at line 52 of file octomap_types.h.

Definition at line 53 of file octomap_types.h.

Use our Pose6D (float precision) as pose6d in octomap.

Definition at line 50 of file octomap_types.h.


Function Documentation

unsigned char octomap::computeChildIdx ( const OcTreeKey &  key,
int  depth 
) [inline]

generate child index (between 0 and 7) from key at given tree depth

Definition at line 182 of file OcTreeKey.h.

void octomap::computeChildKey ( const unsigned int &  pos,
const unsigned short int &  center_offset_key,
const OcTreeKey &  parent_key,
OcTreeKey &  child_key 
) [inline]

Computes the key of a child node while traversing the octree, given child index and current key

Parameters:
[in]posindex of child node (0..7)
[in]center_offset_keyconstant offset of octree keys
[in]parent_keycurrent (parent) key
[out]child_keycomputed child key

Definition at line 168 of file OcTreeKey.h.

OcTreeKey octomap::computeIndexKey ( unsigned short int  level,
const OcTreeKey &  key 
) [inline]

Generates a unique key for all keys on a certain level of the tree

Parameters:
levelfrom the bottom (= tree_depth - depth of key)
keyinput indexing key (at lowest resolution / level)
Returns:
key corresponding to the input key at the given level

Definition at line 197 of file OcTreeKey.h.

float octomap::logodds ( double  probability) [inline]

compute log-odds from probability:

Definition at line 42 of file octomap_utils.h.

std::ostream & octomap::operator<< ( std::ostream &  out,
ColorOcTreeNode::Color const &  c 
)

user friendly output in format (r g b)

Definition at line 252 of file ColorOcTree.cpp.

double octomap::probability ( double  logodds) [inline]

compute probability from logodds:

Definition at line 47 of file octomap_utils.h.


Variable Documentation

const int octomap::edgeTable[256] [static]

Definition at line 44 of file MCTables.h.

const int octomap::triTable[256][16] [static]

Definition at line 78 of file MCTables.h.

const point3d octomap::vertexList[12] [static]
Initial value:
 
        {point3d(0, 1, -1),
         point3d(1, 0, -1),
         point3d(0, -1, -1),
         point3d(-1, 0, -1),
         point3d(0, 1, 1),
         point3d(1, 0, 1),
         point3d(0, -1, 1),
         point3d(-1, 0, 1),
         point3d(-1, 1, 0),
         point3d(1, 1, 0),
         point3d(1, -1, 0),
         point3d(-1, -1, 0)}

Definition at line 336 of file MCTables.h.



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