exampleEDTOctomapStamped.cpp

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/*
 * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
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#include <dynamicEDT3D/dynamicEDTOctomap.h>
 
#include <iostream>
 
 
 
int main( int argc, char *argv[] ) {
  if(argc<=1){
    std::cout<<"usage: "<<argv[0]<<" <octoMap.bt>"<<std::endl;
    exit(0);
  }
 
  typedef octomap::OcTreeStamped OcTreeType;
  OcTreeType *tree = NULL;
  tree = new OcTreeType(0.05);
 
  //read in octotree
  tree->readBinary(argv[1]);
 
  std::cout<<"read in tree, "<<tree->getNumLeafNodes()<<" leaves "<<std::endl;
 
  double x,y,z;
  tree->getMetricMin(x,y,z);
  octomap::point3d min(x,y,z);
  //std::cout<<"Metric min: "<<x<<","<<y<<","<<z<<std::endl;
  tree->getMetricMax(x,y,z);
  octomap::point3d max(x,y,z);
  //std::cout<<"Metric max: "<<x<<","<<y<<","<<z<<std::endl;
 
  bool unknownAsOccupied = true;
  unknownAsOccupied = false;
  float maxDist = 1.0;
  //- the first argument is the max distance at which distance computations are clamped
  //- the second argument is the octomap
  //- arguments 3 and 4 can be used to restrict the distance map to a subarea
  //- argument 5 defines whether unknown space is treated as occupied or free
  //The constructor copies data but does not yet compute the distance map
  DynamicEDTOctomapStamped distmap(maxDist, tree, min, max, unknownAsOccupied);
 
  //This computes the distance map
  distmap.update(); 
 
  //This is how you can query the map
  octomap::point3d p(5.0,5.0,0.6);
  //As we don't know what the dimension of the loaded map are, we modify this point
  p.x() = min.x() + 0.3 * (max.x() - min.x());
  p.y() = min.y() + 0.6 * (max.y() - min.y());
  p.z() = min.z() + 0.5 * (max.z() - min.z());
 
  octomap::point3d closestObst;
  float distance;
 
  distmap.getDistanceAndClosestObstacle(p, distance, closestObst);
 
  std::cout<<"\n\ndistance at point "<<p.x()<<","<<p.y()<<","<<p.z()<<" is "<<distance<<std::endl;
  if(distance < distmap.getMaxDist())
    std::cout<<"closest obstacle to "<<p.x()<<","<<p.y()<<","<<p.z()<<" is at "<<closestObst.x()<<","<<closestObst.y()<<","<<closestObst.z()<<std::endl;
 
  //if you modify the octree via tree->insertScan() or tree->updateNode()
  //just call distmap.update() again to adapt the distance map to the changes made
 
  delete tree;
 
  return 0;
}