OcTreeStamped.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_STAMPED_H
00035 #define OCTOMAP_OCTREE_STAMPED_H
00036 
00037 
00038 #include <octomap/OcTreeNode.h>
00039 #include <octomap/OccupancyOcTreeBase.h>
00040 #include <ctime>
00041 
00042 namespace octomap {
00043   
00044   // node definition
00045   class OcTreeNodeStamped : public OcTreeNode {    
00046 
00047   public:
00048     OcTreeNodeStamped() : OcTreeNode(), timestamp(0) {}
00049 
00050     OcTreeNodeStamped(const OcTreeNodeStamped& rhs) : OcTreeNode(rhs), timestamp(rhs.timestamp) {}
00051 
00052     bool operator==(const OcTreeNodeStamped& rhs) const{
00053       return (rhs.value == value && rhs.timestamp == timestamp);
00054     }
00055     
00056     // children
00057     inline OcTreeNodeStamped* getChild(unsigned int i) {
00058       return static_cast<OcTreeNodeStamped*> (OcTreeNode::getChild(i));
00059     }
00060     inline const OcTreeNodeStamped* getChild(unsigned int i) const {
00061       return static_cast<const OcTreeNodeStamped*> (OcTreeNode::getChild(i));
00062     }
00063 
00064     bool createChild(unsigned int i) {
00065       if (children == NULL) allocChildren();
00066       children[i] = new OcTreeNodeStamped();
00067       return true;
00068     }
00069     
00070     // timestamp
00071     inline unsigned int getTimestamp() const { return timestamp; }
00072     inline void updateTimestamp() { timestamp = (unsigned int) time(NULL);}
00073     inline void setTimestamp(unsigned int timestamp) {this->timestamp = timestamp; }
00074 
00075     // update occupancy and timesteps of inner nodes 
00076     inline void updateOccupancyChildren() {      
00077       this->setLogOdds(this->getMaxChildLogOdds());  // conservative
00078       updateTimestamp();
00079     }
00080 
00081   protected:
00082     unsigned int timestamp;
00083   };
00084 
00085 
00086   // tree definition
00087   class OcTreeStamped : public OccupancyOcTreeBase <OcTreeNodeStamped> {    
00088 
00089   public:
00091     OcTreeStamped(double resolution) : OccupancyOcTreeBase<OcTreeNodeStamped>(resolution) {};    
00092       
00095     OcTreeStamped* create() const {return new OcTreeStamped(resolution); }
00096 
00097     std::string getTreeType() const {return "OcTreeStamped";}
00098 
00100     unsigned int getLastUpdateTime();
00101 
00102     void degradeOutdatedNodes(unsigned int time_thres);
00103     
00104     virtual void updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const;
00105     void integrateMissNoTime(OcTreeNodeStamped* node) const;
00106 
00107   protected:
00112     class StaticMemberInitializer{
00113     public:
00114       StaticMemberInitializer() {
00115         OcTreeStamped* tree = new OcTreeStamped(0.1);
00116         AbstractOcTree::registerTreeType(tree);
00117       }
00118     };
00120     static StaticMemberInitializer ocTreeStampedMemberInit;
00121     
00122   };
00123 
00124 } // end namespace
00125 
00126 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Feb 11 2016 23:50:59