#include <CountingOcTree.h>

Inheritance diagram for octomap::CountingOcTree:

Classes
class	StaticMemberInitializer

Public Member Functions
	CountingOcTree (double resolution)
	Default constructor, sets resolution of leafs. More...

void	getCentersMinHits (point3d_list &node_centers, unsigned int min_hits) const

virtual CountingOcTreeNode *	updateNode (const point3d &value)

CountingOcTreeNode *	updateNode (const OcTreeKey &k)

Public Member Functions inherited from octomap::OcTreeBase< CountingOcTreeNode >
OcTreeBase< CountingOcTreeNode > *	create () const

std::string	getTreeType () const
	returns actual class name as string for identification More...

	OcTreeBase (double res)

Public Member Functions inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const

key_type	adjustKeyAtDepth (key_type key, unsigned int depth) const

iterator	begin (unsigned char maxDepth=0) const

leaf_iterator	begin_leafs (unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const

tree_iterator	begin_tree (unsigned char maxDepth=0) const

size_t	calcNumNodes () const
	Traverses the tree to calculate the total number of nodes. More...

void	clear ()
	Deletes the complete tree structure. More...

void	clearKeyRays ()

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const

key_type	coordToKey (double coordinate) const
	Converts from a single coordinate into a discrete key. More...

key_type	coordToKey (double coordinate, unsigned depth) const
	Converts from a single coordinate into a discrete key at a given depth. More...

OcTreeKey	coordToKey (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (double x, double y, double z) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const

CountingOcTreeNode *	createNodeChild (CountingOcTreeNode *node, unsigned int childIdx)
	Creates (allocates) the i-th child of the node. More...

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

void	deleteNodeChild (CountingOcTreeNode *node, unsigned int childIdx)
	Deletes the i-th child of the node. More...

const iterator	end () const

const leaf_iterator	end_leafs () const

const leaf_bbx_iterator	end_leafs_bbx () const

const tree_iterator	end_tree () const

virtual void	expand ()

virtual void	expandNode (CountingOcTreeNode *node)

virtual void	getMetricMax (double &x, double &y, double &z)
	maximum value of the bounding box of all known space in x, y, z More...

void	getMetricMax (double &x, double &y, double &z) const
	maximum value of the bounding box of all known space in x, y, z More...

virtual void	getMetricMin (double &x, double &y, double &z)
	minimum value of the bounding box of all known space in x, y, z More...

void	getMetricMin (double &x, double &y, double &z) const
	minimum value of the bounding box of all known space in x, y, z More...

virtual void	getMetricSize (double &x, double &y, double &z)
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

virtual void	getMetricSize (double &x, double &y, double &z) const
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

CountingOcTreeNode *	getNodeChild (CountingOcTreeNode *node, unsigned int childIdx) const

const CountingOcTreeNode *	getNodeChild (const CountingOcTreeNode *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes. More...

double	getResolution () const

CountingOcTreeNode *	getRoot () const

unsigned int	getTreeDepth () const

std::string	getTreeType () const

void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const
	return centers of leafs that do NOT exist (but could) in a given bounding box More...

virtual bool	isNodeCollapsible (const CountingOcTreeNode *node) const

double	keyToCoord (key_type key, unsigned depth) const

double	keyToCoord (key_type key) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const CountingOcTreeNode *node, unsigned int childIdx) const

bool	nodeHasChildren (const CountingOcTreeNode *node) const

	OcTreeBaseImpl (double resolution)

	OcTreeBaseImpl (const OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs)
	Deep copy constructor. More...

bool	operator== (const OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs) const

virtual void	prune ()

virtual bool	pruneNode (CountingOcTreeNode *node)

std::istream &	readData (std::istream &s)

CountingOcTreeNode *	search (double x, double y, double z, unsigned int depth=0) const

CountingOcTreeNode *	search (const point3d &value, unsigned int depth=0) const

CountingOcTreeNode *	search (const OcTreeKey &key, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree > &rhs)

double	volume ()

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

virtual	~OcTreeBaseImpl ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization) More...

bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization) More...

virtual	~AbstractOcTree ()

Protected Member Functions
void	getCentersMinHitsRecurs (point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const

Protected Member Functions inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >
void	allocNodeChildren (CountingOcTreeNode *node)

void	calcMinMax ()
	recalculates min and max in x, y, z. Does nothing when tree size didn't change. More...

void	calcNumNodesRecurs (CountingOcTreeNode *node, size_t &num_nodes) const

void	deleteNodeRecurs (CountingOcTreeNode *node)
	recursive delete of node and all children (deallocates memory) More...

bool	deleteNodeRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
	recursive call of deleteNode() More...

void	expandRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth)
	recursive call of expand() More...

size_t	getNumLeafNodesRecurs (const CountingOcTreeNode *parent) const

void	init ()
	initialize non-trivial members, helper for constructors More...

	OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

void	pruneRecurs (CountingOcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune() More...

std::istream &	readNodesRecurs (CountingOcTreeNode *, std::istream &s)
	recursive call of readData() More...

std::ostream &	writeNodesRecurs (const CountingOcTreeNode *, std::ostream &s) const
	recursive call of writeData() More...

Static Protected Attributes
static StaticMemberInitializer	countingOcTreeMemberInit
	static member to ensure static initialization (only once) More...

Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string	fileHeader = "# Octomap OcTree file"

Additional Inherited Members
Public Types inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >
typedef leaf_iterator	iterator

typedef CountingOcTreeNode	NodeType
	Make the templated NODE type available from the outside. More...

Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree *	createTree (const std::string id, double res)

static AbstractOcTree *	read (const std::string &filename)

static AbstractOcTree *	read (std::istream &s)

Static Protected Member Functions inherited from octomap::AbstractOcTree
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)

static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes inherited from octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >
std::vector< KeyRay >	keyrays
	data structure for ray casting, array for multithreading More...

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]
	max in x, y, z More...

double	min_value [3]

double	resolution
	in meters More...

double	resolution_factor
	= 1. / resolution More...

CountingOcTreeNode *	root
	Pointer to the root NODE, NULL for empty tree. More...

bool	size_changed
	flag to denote whether the octree extent changed (for lazy min/max eval) More...

std::vector< double >	sizeLookupTable
	contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More...

point3d	tree_center

const unsigned int	tree_depth
	Maximum tree depth is fixed to 16 currently. More...

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Detailed Description

An AbstractOcTree which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

Note: Was only used internally, not used anymore

Definition at line 76 of file CountingOcTree.h.

Constructor & Destructor Documentation

octomap::CountingOcTree::CountingOcTree ( double resolution )

Default constructor, sets resolution of leafs.

implementation of CountingOcTree -----------------------------------—

Definition at line 52 of file CountingOcTree.cpp.

Member Function Documentation

void octomap::CountingOcTree::getCentersMinHits	(	point3d_list &	node_centers,
		unsigned int	min_hits
	)		const

Definition at line 90 of file CountingOcTree.cpp.

void octomap::CountingOcTree::getCentersMinHitsRecurs	(	point3d_list &	node_centers,
		unsigned int &	min_hits,
		unsigned int	max_depth,
		CountingOcTreeNode *	node,
		unsigned int	depth,
		const OcTreeKey &	parent_key
	)		const

protected

Definition at line 98 of file CountingOcTree.cpp.

CountingOcTreeNode * octomap::CountingOcTree::updateNode ( const point3d & value )

virtual

Definition at line 57 of file CountingOcTree.cpp.

CountingOcTreeNode * octomap::CountingOcTree::updateNode ( const OcTreeKey & k )

Definition at line 66 of file CountingOcTree.cpp.

Member Data Documentation

CountingOcTree::StaticMemberInitializer octomap::CountingOcTree::countingOcTreeMemberInit

staticprotected

static member to ensure static initialization (only once)

Definition at line 116 of file CountingOcTree.h.

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

Classes

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation