CountingOcTree.h
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
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33 
34 #ifndef OCTOMAP_COUNTING_OCTREE_HH
35 #define OCTOMAP_COUNTING_OCTREE_HH
36 
37 
38 #include <stdio.h>
39 #include "OcTreeBase.h"
40 #include "OcTreeDataNode.h"
41 
42 namespace octomap {
43 
53  class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
54 
55  public:
56 
59 
60  inline unsigned int getCount() const { return getValue(); }
61  inline void increaseCount() { value++; }
62  inline void setCount(unsigned c) {this->setValue(c); }
63 
64  };
65 
66 
67 
76  class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
77 
78  public:
80  CountingOcTree(double resolution);
81  virtual CountingOcTreeNode* updateNode(const point3d& value);
82  CountingOcTreeNode* updateNode(const OcTreeKey& k);
83  void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
84 
85  protected:
86 
87  void getCentersMinHitsRecurs( point3d_list& node_centers,
88  unsigned int& min_hits,
89  unsigned int max_depth,
90  CountingOcTreeNode* node, unsigned int depth,
91  const OcTreeKey& parent_key) const;
92 
101  public:
103  CountingOcTree* tree = new CountingOcTree(0.1);
104  tree->clearKeyRays();
106  }
107 
113  void ensureLinking() {};
114  };
117  };
118 
119 
120 }
121 
122 
123 #endif
static void registerTreeType(AbstractOcTree *tree)
unsigned int value
stored data (payload)
void setValue(unsigned int v)
sets value to be stored in the node
unsigned int getCount() const
static StaticMemberInitializer countingOcTreeMemberInit
static member to ensure static initialization (only once)
std::list< octomath::Vector3 > point3d_list
Definition: octomap_types.h:54
This class represents a three-dimensional vector.
Definition: Vector3.h:50
CountingOcTreeNode()
implementation of CountingOcTreeNode -------------------------------—


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32