octomap::OcTreeDataNode< T > Class Template Reference

#include <OcTreeDataNode.h>

Inheritance diagram for octomap::OcTreeDataNode< T >:

Public Types
typedef T	DataType
	Make the templated data type available from the outside. More...

Public Member Functions
void	copyData (const OcTreeDataNode &from)
T	getValue () const
	OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const)
	OCTOMAP_DEPRECATED (bool hasChildren() const)
	OcTreeDataNode ()
	OcTreeDataNode (T initVal)
	OcTreeDataNode (const OcTreeDataNode &rhs)
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical. More...
std::istream &	readData (std::istream &s)
	Read node payload (data only) from binary stream. More...
void	setValue (T v)
	sets value to be stored in the node More...
std::ostream &	writeData (std::ostream &s) const
	Write node payload (data only) to binary stream. More...
	~OcTreeDataNode ()

Protected Member Functions
void	allocChildren ()

Protected Attributes
AbstractOcTreeNode **	children
T	value
	stored data (payload) More...

Friends
template<typename NODE , typename I >
class	OcTreeBaseImpl

Detailed Description

template<typename T>
class octomap::OcTreeDataNode< T >

Basic node in the OcTree that can hold arbitrary data of type T in value. This is the base class for nodes used in an OcTree. The used implementation for occupancy mapping is in OcTreeNode.#

Template Parameters

T	data to be stored in the node (e.g. a float for probabilities)

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

Definition at line 63 of file OcTreeDataNode.h.

Member Typedef Documentation

template<typename T>

typedef T octomap::OcTreeDataNode< T >::DataType

Make the templated data type available from the outside.

Definition at line 117 of file OcTreeDataNode.h.

Constructor & Destructor Documentation

template<typename T>

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

)

template<typename T>

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

T

initVal

)

template<typename T>

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

const OcTreeDataNode< T > &

rhs

)

Copy constructor, performs a recursive deep-copy of all children including node data in "value"

template<typename T>

octomap::OcTreeDataNode< T >::~OcTreeDataNode

(

)

Delete only own members. OcTree maintains tree structure and must have deleted children already

Member Function Documentation

template<typename T>

void octomap::OcTreeDataNode< T >::allocChildren ( )

protected

template<typename T>

void octomap::OcTreeDataNode< T >::copyData

(

const OcTreeDataNode< T > &

from

)

Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well

template<typename T>

T octomap::OcTreeDataNode< T >::getValue ( ) const

inline

Returns

value stored in the node

Definition at line 103 of file OcTreeDataNode.h.

template<typename T>

octomap::OcTreeDataNode< T >::OCTOMAP_DEPRECATED

(

bool childExists(unsigned int i)

const

)

Test whether the i-th child exists.

Deprecated:

Replaced by tree->nodeChildExists(...)

Returns

true if the i-th child exists

template<typename T>

octomap::OcTreeDataNode< T >::OCTOMAP_DEPRECATED

(

bool hasChildren()

const

)

Deprecated:

Replaced by tree->nodeHasChildren(...)

Returns

true if the node has at least one child

template<typename T>

bool octomap::OcTreeDataNode< T >::operator==

(

const OcTreeDataNode< T > &

rhs

)

const

Equals operator, compares if the stored value is identical.

template<typename T>

std::istream& octomap::OcTreeDataNode< T >::readData

(

std::istream &

s

)

Read node payload (data only) from binary stream.

template<typename T>

void octomap::OcTreeDataNode< T >::setValue ( T  v )

inline

sets value to be stored in the node

Definition at line 105 of file OcTreeDataNode.h.

template<typename T>

std::ostream& octomap::OcTreeDataNode< T >::writeData

(

std::ostream &

s

)

const

Write node payload (data only) to binary stream.

Friends And Related Function Documentation

template<typename T>

template<typename NODE , typename I >

friend class OcTreeBaseImpl

friend

Definition at line 65 of file OcTreeDataNode.h.

Member Data Documentation

template<typename T>

AbstractOcTreeNode** octomap::OcTreeDataNode< T >::children

protected

pointer to array of children, may be NULL

Note

The tree class manages this pointer, the array, and the memory for it! The children of a node are always enforced to be the same type as the node

Definition at line 126 of file OcTreeDataNode.h.

template<typename T>

T octomap::OcTreeDataNode< T >::value

protected

stored data (payload)

Definition at line 128 of file OcTreeDataNode.h.

---

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

• OcTreeDataNode.h