34 #ifndef OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H 35 #define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
double getClampingThresMin() const
bool isNodeAtThreshold(const OcTreeNode &occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
virtual ~AbstractOccupancyOcTree()
float getOccupancyThresLog() const
double getOccupancyThres() const
double getProbHit() const
float getClampingThresMaxLog() const
void setClampingThresMax(double thresProb)
sets the maximum threshold for occupancy clamping (sensor model)
void setProbHit(double prob)
sets the probability for a "hit" (will be converted to logodds) - sensor model
double probability(double logodds)
compute probability from logodds:
double getClampingThresMax() const
virtual size_t size() const =0
void setProbMiss(double prob)
sets the probability for a "miss" (will be converted to logodds) - sensor model
virtual void toMaxLikelihood()=0
virtual std::ostream & writeBinaryData(std::ostream &s) const =0
Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
bool isNodeAtThreshold(const OcTreeNode *occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
virtual OcTreeNode * updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
bool writeBinaryConst(const std::string &filename) const
bool writeBinary(const std::string &filename)
This class represents a three-dimensional vector.
double getProbMiss() const
static const std::string binaryFileHeader
void setOccupancyThres(double prob)
sets the threshold for occupancy (sensor model)
AbstractOccupancyOcTree()
float getProbMissLog() const
bool readBinary(std::istream &s)
float logodds(double probability)
compute log-odds from probability:
bool readBinaryLegacyHeader(std::istream &s, unsigned int &size, double &res)
Try to read the old binary format for conversion, will be removed in the future.
bool isNodeOccupied(const OcTreeNode &occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
virtual std::istream & readBinaryData(std::istream &s)=0
Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
float getClampingThresMinLog() const
void setClampingThresMin(double thresProb)
sets the minimum threshold for occupancy clamping (sensor model)
float getProbHitLog() const