OcTreePCL.h
Go to the documentation of this file.
00001 #ifndef OCTOMAP_PCL_H
00002 #define OCTOMAP_PCL_H
00003 #include "octomap/OccupancyOcTreeBase.h"
00004 #include "OcTreeNodePCL.h"
00005 #include "octomap/ScanGraph.h"
00006 
00007 namespace octomap {
00008 
00014   class OcTreePCL : public OccupancyOcTreeBase <OcTreeNodePCL> {
00015 
00016   public:
00017     static const int TREETYPE=3;
00018     std::vector < octomap::OcTreeNodePCL *> octree_node_list;
00019   public:
00020 
00025     OcTreePCL(double _resolution);
00026 
00036     void insertScan(const ScanNode& scan, double maxrange=-1., bool pruning = true);
00037     // -- Information  ---------------------------------
00038 
00040     unsigned int memoryUsage() const;
00041 
00042     void calcNumThresholdedNodes(unsigned int& num_thresholded, unsigned int& num_other) const; 
00043 
00044 
00045     
00048     void toMaxLikelihood();
00049     
00050      // -- I/O  -----------------------------------------
00051 
00053 
00055     std::istream& readBinary(std::istream &s);
00056 
00060     std::ostream& writeBinary(std::ostream &s);
00061 
00064     std::ostream& writeBinaryConst(std::ostream &s) const;
00065 
00066 
00068     void readBinary(const std::string& filename);
00069 
00072     void writeBinary(const std::string& filename);
00073 
00076     void writeBinaryConst(const std::string& filename) const;
00077 
00079     void insertOcTreeNodePCL(octomap::OcTreeNodePCL *);
00080 
00082     octomap::OcTreeNodePCL * getOcTreeNodePCL(point3d c) const;
00083 
00084   protected:
00085 
00087     void insertScanUniform(const ScanNode& scan, double maxrange=-1.);
00088 
00090     void toMaxLikelihoodRecurs(OcTreeNodePCL* node, unsigned int depth, unsigned int max_depth);
00091 
00092     void calcNumThresholdedNodesRecurs (OcTreeNodePCL* node,
00093                                         unsigned int& num_thresholded, 
00094                                         unsigned int& num_other) const;
00095  
00096   };
00097 
00098 
00099 } // end namespace
00100 
00101 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends Defines


pcl_to_octree
Author(s): Hozefa Indorewala, Dejan Pangercic
autogenerated on Thu May 23 2013 08:28:50