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::KeyHashKeyBoolMap
 
typedef unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHashKeySet
 
typedef std::pair< point3d, double > OcTreeVolume
 A voxel defined by its center point3d and its side length. More...
 
typedef octomath::Vector3 point3d
 Use Vector3 (float precision) as a point3d in octomap. More...
 
typedef std::vector< octomath::Vector3point3d_collection
 
typedef std::list< octomath::Vector3point3d_list
 
typedef octomath::Pose6D pose6d
 Use our Pose6D (float precision) as pose6d in octomap. More...
 

Functions

unsigned char computeChildIdx (const OcTreeKey &key, int depth)
 generate child index (between 0 and 7) from key at given tree depth More...
 
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: More...
 
std::ostream & operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
 user friendly output in format (r g b) More...
 
double probability (double logodds)
 compute probability from logodds: More...
 

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 121 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 114 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 184 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 170 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 199 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 256 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(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(0, 1, 1),
point3d(1, 1, 0),
point3d(1, -1, 0),
point3d(-1, -1, 0),
point3d(-1, 1, 0),
}
octomath::Vector3 point3d
Use Vector3 (float precision) as a point3d in octomap.
Definition: octomap_types.h:48

Definition at line 336 of file MCTables.h.



octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Mar 25 2016 03:52:55