CountingOcTree.h
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #ifndef OCTOMAP_COUNTING_OCTREE_HH
00035 #define OCTOMAP_COUNTING_OCTREE_HH
00036 
00037 
00038 #include <stdio.h>
00039 #include "OcTreeBase.h"
00040 #include "OcTreeDataNode.h"
00041 
00042 namespace octomap {
00043 
00053   class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
00054 
00055   public:
00056 
00057     CountingOcTreeNode();
00058     ~CountingOcTreeNode();
00059     bool createChild(unsigned int i);
00060 
00061     inline CountingOcTreeNode* getChild(unsigned int i) {
00062       return static_cast<CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
00063     }
00064 
00065     inline const CountingOcTreeNode* getChild(unsigned int i) const {
00066       return static_cast<const CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
00067     }
00068 
00069     inline unsigned int getCount() const { return getValue(); }
00070     inline void increaseCount() { value++; }
00071     inline void setCount(unsigned c) {this->setValue(c); }
00072 
00073     // overloaded:
00074     void expandNode();
00075   };
00076 
00077 
00078 
00088   class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
00089 
00090   public:
00092     CountingOcTree(double resolution) : OcTreeBase<CountingOcTreeNode>(resolution) {};    
00093     virtual CountingOcTreeNode* updateNode(const point3d& value);
00094     CountingOcTreeNode* updateNode(const OcTreeKey& k);
00095     void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
00096 
00097   protected:
00098 
00099     void getCentersMinHitsRecurs( point3d_list& node_centers,
00100                                   unsigned int& min_hits,
00101                                   unsigned int max_depth,
00102                                   CountingOcTreeNode* node, unsigned int depth,
00103                                   const OcTreeKey& parent_key) const;
00104 
00109     class StaticMemberInitializer{
00110        public:
00111          StaticMemberInitializer() {
00112            CountingOcTree* tree = new CountingOcTree(0.1);
00113            AbstractOcTree::registerTreeType(tree);
00114          }
00115     };
00117     static StaticMemberInitializer countingOcTreeMemberInit;
00118   };
00119 
00120 
00121 }
00122 
00123 
00124 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Aug 27 2015 14:13:14