OcTreeStamped.cpp

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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#include "octomap/OcTreeStamped.h"

namespace octomap {

  OcTreeStamped::OcTreeStamped(double resolution)
   : OccupancyOcTreeBase<OcTreeNodeStamped>(resolution) {
    ocTreeStampedMemberInit.ensureLinking();
  }

  unsigned int OcTreeStamped::getLastUpdateTime() {
    // this value is updated whenever inner nodes are 
    // updated using updateOccupancyChildren()
    return root->getTimestamp();
  }

  void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) {
    unsigned int query_time = (unsigned int) time(NULL); 

    for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs(); 
        it!= end; ++it) {
      if ( this->isNodeOccupied(*it) 
           && ((query_time - it->getTimestamp()) > time_thres) ) {
        integrateMissNoTime(&*it);
      }
    }
  }  

  void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const {
    OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, update);
    node->updateTimestamp();
  }

  void OcTreeStamped::integrateMissNoTime(OcTreeNodeStamped* node) const{
    OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, prob_miss_log);
  }

  OcTreeStamped::StaticMemberInitializer OcTreeStamped::ocTreeStampedMemberInit;

} // end namespace