#include <OcTreeNode.h>

Inheritance diagram for octomap::OcTreeNode:

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Public Member Functions
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!) More...

bool	createChild (unsigned int i)

OcTreeNode *	getChild (unsigned int i)

const OcTreeNode *	getChild (unsigned int i) const

float	getLogOdds () const

float	getMaxChildLogOdds () const

double	getMeanChildLogOdds () const

double	getOccupancy () const

	OcTreeNode ()

void	setLogOdds (float l)
	sets log odds occupancy of node More...

void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy More...

	~OcTreeNode ()

Public Member Functions inherited from octomap::OcTreeDataNode< float >
bool	childExists (unsigned int i) const

bool	collapsible () const

bool	createChild (unsigned int i)
	initialize i-th child, allocate children array if needed More...

void	deleteChild (unsigned int i)
	Deletes the i-th child of the node. More...

void	expandNode ()

OcTreeDataNode< float > *	getChild (unsigned int i)

const OcTreeDataNode< float > *	getChild (unsigned int i) const

float	getValue () const

bool	hasChildren () const

	OcTreeDataNode ()

	OcTreeDataNode (floatinitVal)

	OcTreeDataNode (const OcTreeDataNode &rhs)
	Copy constructor, performs a recursive deep-copy of all children. More...

bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical. More...

bool	pruneNode ()

std::istream &	readValue (std::istream &s)

void	setValue (floatv)
	sets value to be stored in the node More...

std::ostream &	writeValue (std::ostream &s) const

	~OcTreeDataNode ()

Additional Inherited Members
Public Types inherited from octomap::OcTreeDataNode< float >
typedef float	DataType
	Make the templated data type available from the outside. More...

Protected Member Functions inherited from octomap::OcTreeDataNode< float >
void	allocChildren ()

Protected Attributes inherited from octomap::OcTreeDataNode< float >
OcTreeDataNode< float > **	children
	pointer to array of children, may be NULL More...

float	value
	stored data (payload) More...

Detailed Description

Nodes to be used in OcTree. They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.

Note: If you derive a class (directly or indirectly) from OcTreeNode or OcTreeDataNode, you have to implement (at least) the following functions: createChild(), getChild(), getChild() const, expandNode() to avoid slicing errors and memory-related bugs. See ColorOcTreeNode in ColorOcTree.h for an example.

Definition at line 55 of file OcTreeNode.h.

Constructor & Destructor Documentation

octomap::OcTreeNode::OcTreeNode ( )

Definition at line 44 of file OcTreeNode.cpp.

octomap::OcTreeNode::~OcTreeNode ( )

Definition at line 49 of file OcTreeNode.cpp.

Member Function Documentation

void octomap::OcTreeNode::addValue ( const float & p )

adds p to the node's logOdds value (with no boundary / threshold checking!)

Definition at line 94 of file OcTreeNode.cpp.

bool octomap::OcTreeNode::createChild ( unsigned int i )

Definition at line 54 of file OcTreeNode.cpp.

OcTreeNode* octomap::OcTreeNode::getChild ( unsigned int i )

inline

Definition at line 64 of file OcTreeNode.h.

const OcTreeNode* octomap::OcTreeNode::getChild ( unsigned int i ) const

inline

Definition at line 67 of file OcTreeNode.h.

float octomap::OcTreeNode::getLogOdds ( ) const

inline

Returns: log odds representation of occupancy probability of node

Definition at line 77 of file OcTreeNode.h.

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

Returns: maximum of children's occupancy probabilities, in log odds

Definition at line 82 of file OcTreeNode.cpp.

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

Returns: mean of all children's occupancy probabilities, in log odds

Definition at line 67 of file OcTreeNode.cpp.

double octomap::OcTreeNode::getOccupancy ( ) const

inline

Returns: occupancy probability of node

Definition at line 74 of file OcTreeNode.h.

void octomap::OcTreeNode::setLogOdds ( float l )

inline

sets log odds occupancy of node

Definition at line 79 of file OcTreeNode.h.

void octomap::OcTreeNode::updateOccupancyChildren ( )

inline

update this node's occupancy according to its children's maximum occupancy

Definition at line 92 of file OcTreeNode.h.

The documentation for this class was generated from the following files:

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation