OcTreeStamped.cpp
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33 
34 #include "octomap/OcTreeStamped.h"
35 
36 namespace octomap {
37 
38  OcTreeStamped::OcTreeStamped(double in_resolution)
39  : OccupancyOcTreeBase<OcTreeNodeStamped>(in_resolution) {
41  }
42 
44  // this value is updated whenever inner nodes are
45  // updated using updateOccupancyChildren()
46  return root->getTimestamp();
47  }
48 
49  void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) {
50  unsigned int query_time = (unsigned int) time(NULL);
51 
52  for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs();
53  it!= end; ++it) {
54  if ( this->isNodeOccupied(*it)
55  && ((query_time - it->getTimestamp()) > time_thres) ) {
56  integrateMissNoTime(&*it);
57  }
58  }
59  }
60 
61  void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const {
63  node->updateTimestamp();
64  }
65 
68  }
69 
71 
72 } // end namespace
octomap::OcTreeStamped::StaticMemberInitializer::ensureLinking
void ensureLinking()
Definition: OcTreeStamped.h:119
octomap::OcTreeStamped::OcTreeStamped
OcTreeStamped(double resolution)
Default constructor, sets resolution of leafs.
Definition: OcTreeStamped.cpp:38
octomap::OccupancyOcTreeBase
Definition: OccupancyOcTreeBase.h:69
octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::end_leafs
const leaf_iterator end_leafs() const
Definition: OcTreeBaseImpl.h:334
octomap::OcTreeStamped::StaticMemberInitializer
Definition: OcTreeStamped.h:106
octomap::OccupancyOcTreeBase::updateNodeLogOdds
virtual void updateNodeLogOdds(NODE *occupancyNode, const float &update) const
update logodds value of node by adding to the current value.
octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::begin_leafs
leaf_iterator begin_leafs(unsigned char maxDepth=0) const
Definition: OcTreeBaseImpl.h:332
octomap::OcTreeStamped::getLastUpdateTime
unsigned int getLastUpdateTime()
Definition: OcTreeStamped.cpp:43
octomap::OcTreeNodeStamped::updateTimestamp
void updateTimestamp()
Definition: OcTreeStamped.h:63
octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::root
OcTreeNodeStamped * root
Pointer to the root NODE, NULL for empty tree.
Definition: OcTreeBaseImpl.h:542
octomap::AbstractOccupancyOcTree::isNodeOccupied
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy"
Definition: AbstractOccupancyOcTree.h:114
octomap::OcTreeNodeStamped
Definition: OcTreeStamped.h:45
OcTreeStamped.h
octomap::OcTreeStamped::ocTreeStampedMemberInit
static StaticMemberInitializer ocTreeStampedMemberInit
to ensure static initialization (only once)
Definition: OcTreeStamped.h:122
octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::end
const iterator end() const
Definition: OcTreeBaseImpl.h:329
octomap::OcTreeNodeStamped::getTimestamp
unsigned int getTimestamp() const
Definition: OcTreeStamped.h:62
octomap::OcTreeStamped::degradeOutdatedNodes
void degradeOutdatedNodes(unsigned int time_thres)
Definition: OcTreeStamped.cpp:49
octomap
octomap::OcTreeStamped::integrateMissNoTime
void integrateMissNoTime(OcTreeNodeStamped *node) const
Definition: OcTreeStamped.cpp:66
octomap::OcTreeStamped::updateNodeLogOdds
virtual void updateNodeLogOdds(OcTreeNodeStamped *node, const float &update) const
update logodds value of node by adding to the current value.
Definition: OcTreeStamped.cpp:61
octomap::AbstractOccupancyOcTree::prob_miss_log
float prob_miss_log
Definition: AbstractOccupancyOcTree.h:232


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Tue Dec 12 2023 03:39:40