34 #ifndef OCTOMAP_MAP_COLLECTION_H 35 #define OCTOMAP_MAP_COLLECTION_H 44 template <
class MAPNODE>
57 bool isOccupied(
float x,
float y,
float z)
const;
62 bool ignoreUnknownCells=
false,
double maxRange=-1.0)
const;
65 bool write(std::string filename);
69 double maxrange=-1.,
bool pruning=
true,
bool lazy_eval =
false);
73 typedef typename std::vector<MAPNODE*>::iterator
iterator;
78 const_iterator
end()
const {
return nodes.end(); }
83 bool read(std::string filename);
90 static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
92 static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
101 #include "octomap/MapCollection.hxx" std::vector< MAPNODE * >::iterator iterator
bool removeNode(const MAPNODE *n)
bool castRay(const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
static bool readTagValue(std::string tag, std::ifstream &infile, std::string *value)
void addNode(MAPNODE *node)
static void splitPathAndFilename(std::string &filenamefullpath, std::string *path, std::string *filename)
bool writePointcloud(std::string filename)
bool isOccupied(const point3d &p) const
MAPNODE * associate(const Pointcloud &scan)
std::vector< Pointcloud * > segment(const Pointcloud &scan) const
std::vector< MAPNODE * >::const_iterator const_iterator
double getOccupancy(const point3d &p)
MAPNODE * queryNode(const point3d &p)
This class represents a three-dimensional vector.
bool read(std::string filename)
static std::string combinePathAndFilename(std::string path, std::string filename)
const_iterator end() const
const_iterator begin() const
bool write(std::string filename)
std::vector< MAPNODE * > nodes