#include <octree_stamped_pa_ros.h>

Inheritance diagram for cOctreeStampedPaRos:

[legend]

Public Types
typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeBase

Public Types inherited from cOctreeBasePaRos< cOcTreeStampedPa >
typedef ::octomap::OcTreeKey	OctKey

typedef pcl::PointCloud< pcl::PointXYZ >	PclPointCloud

typedef pcl::PointCloud< pcl::PointXYZ >::ConstPtr	PclPointCloudConstPtr

typedef pcl::PointCloud< pcl::PointXYZ >::Ptr	PclPointCloudPtr

typedef cOcTreeStampedPa	TreeTypeBase

typedef cOctreeBasePaRos< cOcTreeStampedPa >	TreeTypeFull

Public Types inherited from cOcTreeStampedPa
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< NodeTypeBase >	NodeTypeFull

typedef cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, NodeTypeBase >	TreeTypeBase

Public Types inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
typedef octomap::OcTreeNode	NodeTypeBase

typedef cNodeStampedBasePa< octomap::OcTreeNode >	NodeTypeFull

typedef octomap::OccupancyOcTreeBase< NodeTypeFull >	TreeTypeBase

Public Types inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef cNodeStampedBasePa< octomap::OcTreeNode >	NodeType

Public Member Functions
	cOctreeStampedPaRos (const double resolution)
	default constructor More...

void	degradeOutdatedNodes (void)
	degrading outdated nodes More...

ros::Time	getLastInsertionTime (void) const
	function for returning the time the octomap was last updated More...

void	setLastInsertionTime (const ros::Time &time)
	function for setting the time the octomap was last updated More...

cTimePa	timeFromRos (const ros::Time &time) const
	function for converting from ros::Time to cTimePa More...

ros::Time	timeToRos (const cTimePa &time) const
	function for converting from cTimePa to ros::Time More...

virtual	~cOctreeStampedPaRos ()
	default destructor More...

Public Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool	addCloud (const sensor_msgs::PointCloud2ConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::PointCloudConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

bool	addCloud (const sensor_msgs::LaserScanConstPtr &cloud, const cAddCloudParameter &params, const tf::Transform transform=tf::Transform::getIdentity())

virtual void	clear (void)
	clear local timestamps with octomap More...

	cOctreeBasePaRos (double resolution)
	default constructor More...

bool	getChildKey (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const

octomap_msgs::OctomapPtr	getOctomap (void) const
	function for getting the binary octomap More...

octomap_msgs::OctomapPtr	getOctomapFull (void) const
	function for getting the full octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcd (const int tree_depth=0, const bool expand=false) const
	function for getting the pointcloud equivalent of the octomap More...

sensor_msgs::PointCloud2Ptr	getOctomapPcdFree (const int tree_depth=0, const bool expand=false) const
	similar to getOctomapPcd, but only returning just empty voxels More...

ros::Time	getOutputTime (void) const

bool	getParentKey (const OctKey &current, const int current_level, OctKey &parent) const

geometry_msgs::PointPtr	keyToPoint (const OctKey &key) const
	function for converting from key to point (geometry_msg) More...

void	keyToPoint (const OctKey &key, double &x, double &y, double &z) const
	function for converting from key to real coordinates More...

OctKey	pointToKey (const geometry_msgs::Point &point) const
	functions for converting from point (geometry_msg) to key More...

bool	readFull (const std::string &filename)
	trying to read the given file into the current OcTree More...

void	setOutputTime (const ros::Time &time)

bool	updateTime (const ros::Time &time)

virtual	~cOctreeBasePaRos ()
	default destructor More...

Public Member Functions inherited from cOcTreeStampedPa
	cOcTreeStampedPa (double resolution)
	Default constructor, sets resolution of leafs. More...

cOcTreeStampedPa *	create () const

virtual std::string	getTreeType () const

virtual	~cOcTreeStampedPa (void)

Public Member Functions inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
	cOcTreeStampedBasePa (double resolution)
	Default constructor, sets resolution of leafs. More...

cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode > *	create () const

void	degradeOutdatedNodes (const cTimePa timediff)

const cTimePa &	getTimestamp (void) const

void	setTimestamp (const cTimePa timestamp)

virtual void	updateNodeLogOdds (NodeTypeFull *node, const float &update) const

virtual	~cOcTreeStampedBasePa (void)

Public Member Functions inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
bool	bbxSet () const

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const

KeyBoolMap::const_iterator	changedKeysBegin () const

KeyBoolMap::const_iterator	changedKeysEnd () const

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	enableChangeDetection (bool enable)

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const point3d &p) const

bool	inBBX (const OcTreeKey &key) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)

virtual void	integrateHit (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

virtual void	integrateMiss (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > *occupancyNode) const

virtual void	nodeToMaxLikelihood (cNodeStampedBasePa< octomap::OcTreeNode > &occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (double resolution)

	OccupancyOcTreeBase (const OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > > &rhs)

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, cNodeStampedBasePa< octomap::OcTreeNode > *node)

void	resetChangeDetection ()

void	setBBXMax (point3d &max)

void	setBBXMin (point3d &min)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)

virtual cNodeStampedBasePa< octomap::OcTreeNode > *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

void	useBBXLimit (bool enable)

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

std::ostream &	writeBinaryNode (std::ostream &s, const cNodeStampedBasePa< octomap::OcTreeNode > *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
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

void	clear ()

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

OcTreeKey	coordToKey (double x, double y, double z) const

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const

key_type	coordToKey (double coordinate) const

key_type	coordToKey (double coordinate, unsigned depth) const

OcTreeKey	coordToKey (const point3d &coord) const

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

cNodeStampedBasePa< octomap::OcTreeNode > *	createNodeChild (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx)

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 (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx)

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 (cNodeStampedBasePa< octomap::OcTreeNode > *node)

virtual void	getMetricMax (double &x, double &y, double &z)

void	getMetricMax (double &x, double &y, double &z) const

virtual void	getMetricMin (double &x, double &y, double &z)

void	getMetricMin (double &x, double &y, double &z) const

virtual void	getMetricSize (double &x, double &y, double &z)

virtual void	getMetricSize (double &x, double &y, double &z) const

const cNodeStampedBasePa< octomap::OcTreeNode > *	getNodeChild (const cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const

cNodeStampedBasePa< octomap::OcTreeNode > *	getNodeChild (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const

double	getResolution () const

cNodeStampedBasePa< octomap::OcTreeNode > *	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

virtual bool	isNodeCollapsible (const cNodeStampedBasePa< octomap::OcTreeNode > *node) const

point3d	keyToCoord (const OcTreeKey &key) const

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

double	keyToCoord (key_type key) const

double	keyToCoord (key_type key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int childIdx) const

bool	nodeHasChildren (const cNodeStampedBasePa< octomap::OcTreeNode > *node) const

	OcTreeBaseImpl (const OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

bool	operator== (const OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

virtual bool	pruneNode (cNodeStampedBasePa< octomap::OcTreeNode > *node)

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

cNodeStampedBasePa< octomap::OcTreeNode > *	search (const point3d &value, unsigned int depth=0) const

cNodeStampedBasePa< octomap::OcTreeNode > *	search (const OcTreeKey &key, unsigned int depth=0) const

cNodeStampedBasePa< octomap::OcTreeNode > *	search (double x, double y, double z, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree > &rhs)

double	volume ()

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

virtual	~OcTreeBaseImpl ()

Public Attributes
cOctreeStampedPaRosParameter	rosparams_
	parameters More...

Public Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
cOctreeBasePaRosParameter	rosparams_base_
	parameters More...

Protected Member Functions
void	checkDegrading (void)
	helper function for automatic degrading More...

Protected Member Functions inherited from cOctreeBasePaRos< cOcTreeStampedPa >
bool	addCloud (const PclPointCloudPtr &cloud, const cAddCloudParameter &params, const tf::Transform &transform)

void	getChildKeySimple (const OctKey &current, const int current_level, OctKey &child, const int child_pos) const
	helper function for getChildKey More...

void	getOctomapPcdSub (const OctKey &key, const int current_level, const int min_level, PclPointCloud &cloud) const
	helper function for getOctomapPcd... More...

void	getParentKeySimple (const OctKey &current, const int current_level, OctKey &parent) const
	helper function for getParentKey More...

Protected Member Functions inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

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

cNodeStampedBasePa< octomap::OcTreeNode > *	setNodeValueRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth)

cNodeStampedBasePa< octomap::OcTreeNode > *	updateNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

Protected Member Functions inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
void	allocNodeChildren (cNodeStampedBasePa< octomap::OcTreeNode > *node)

void	calcMinMax ()

void	calcNumNodesRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, size_t &num_nodes) const

void	deleteNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node)

bool	deleteNodeRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const cNodeStampedBasePa< octomap::OcTreeNode > *parent) const

void	init ()

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

void	pruneRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

std::istream &	readNodesRecurs (cNodeStampedBasePa< octomap::OcTreeNode > *, std::istream &s)

std::ostream &	writeNodesRecurs (const cNodeStampedBasePa< octomap::OcTreeNode > *, std::ostream &s) const

Protected Attributes
ros::Time	last_degrading_time_

Protected Attributes inherited from cOctreeBasePaRos< cOcTreeStampedPa >
ros::Time	current_output_time_
	internal variable for storing current output time More...

ros::Time	last_insertion_time_
	internal variable for storing last insertion time More...

Protected Attributes inherited from cOcTreeStampedBasePa< octomap::OccupancyOcTreeBase, octomap::OcTreeNode >
cTimePa	current_timestamp
	used to set new data (insertion of measurement) to actual time stamp More...

Protected Attributes inherited from octomap::OccupancyOcTreeBase< cNodeStampedBasePa< octomap::OcTreeNode > >
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys

bool	use_bbx_limit

bool	use_change_detection

Protected Attributes inherited from octomap::OcTreeBaseImpl< cNodeStampedBasePa< octomap::OcTreeNode >, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]

double	min_value [3]

double	resolution

double	resolution_factor

cNodeStampedBasePa< octomap::OcTreeNode > *	root

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Additional Inherited Members
Static Protected Attributes inherited from cOcTreeStampedPa
static StaticMemberInitializer	StaticMemberInit
	to ensure static initialization (only once) More...

Detailed Description

Definition at line 59 of file octree_stamped_pa_ros.h.

Member Typedef Documentation

typedef cOctreeBasePaRos<cOcTreeStampedPa> cOctreeStampedPaRos::TreeTypeBase

Definition at line 61 of file octree_stamped_pa_ros.h.

Constructor & Destructor Documentation

cOctreeStampedPaRos::cOctreeStampedPaRos ( const double resolution )

default constructor

Definition at line 55 of file octree_stamped_pa_ros.cpp.

cOctreeStampedPaRos::~cOctreeStampedPaRos ( )

virtual

default destructor

Definition at line 61 of file octree_stamped_pa_ros.cpp.

Member Function Documentation

void cOctreeStampedPaRos::checkDegrading ( void )

protected

helper function for automatic degrading

Definition at line 96 of file octree_stamped_pa_ros.cpp.

void cOctreeStampedPaRos::degradeOutdatedNodes ( void )

degrading outdated nodes

Definition at line 65 of file octree_stamped_pa_ros.cpp.

ros::Time cOctreeStampedPaRos::getLastInsertionTime ( void ) const

virtual

function for returning the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 72 of file octree_stamped_pa_ros.cpp.

void cOctreeStampedPaRos::setLastInsertionTime ( const ros::Time & time )

virtual

function for setting the time the octomap was last updated

Reimplemented from cOctreeBasePaRos< cOcTreeStampedPa >.

Definition at line 78 of file octree_stamped_pa_ros.cpp.

cTimePa cOctreeStampedPaRos::timeFromRos ( const ros::Time & time ) const

function for converting from ros::Time to cTimePa

Definition at line 90 of file octree_stamped_pa_ros.cpp.

ros::Time cOctreeStampedPaRos::timeToRos ( const cTimePa & time ) const

function for converting from cTimePa to ros::Time

Definition at line 84 of file octree_stamped_pa_ros.cpp.

Member Data Documentation

ros::Time cOctreeStampedPaRos::last_degrading_time_

protected

Definition at line 86 of file octree_stamped_pa_ros.h.

cOctreeStampedPaRosParameter cOctreeStampedPaRos::rosparams_

parameters

Definition at line 83 of file octree_stamped_pa_ros.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation