OcTreeNode.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_OCTREE_NODE_H
00035 #define OCTOMAP_OCTREE_NODE_H
00036 
00037 #include "octomap_types.h"
00038 #include "octomap_utils.h"
00039 #include "OcTreeDataNode.h"
00040 #include <limits>
00041 
00042 namespace octomap {
00043 
00052   class OcTreeNode : public OcTreeDataNode<float> {
00053 
00054   public:
00055     OcTreeNode();
00056     ~OcTreeNode();
00057 
00058     bool createChild(unsigned int i);
00059 
00060     // overloaded, so that the return type is correct:
00061     inline OcTreeNode* getChild(unsigned int i) {
00062       return static_cast<OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
00063     }
00064     inline const OcTreeNode* getChild(unsigned int i) const {
00065       return static_cast<const OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
00066     }
00067 
00068     // -- node occupancy  ----------------------------
00069 
00071     inline double getOccupancy() const { return probability(value); }
00072 
00074     inline float getLogOdds() const{ return value; }
00076     inline void setLogOdds(float l) { value = l; }
00077 
00081     double getMeanChildLogOdds() const;
00082 
00086     float getMaxChildLogOdds() const;
00087 
00089     inline void updateOccupancyChildren() {
00090       this->setLogOdds(this->getMaxChildLogOdds());  // conservative
00091     }
00092 
00094     void addValue(const float& p);
00095     
00096 
00097   protected:
00098     // "value" stores log odds occupancy probability
00099   };
00100 
00101 } // end namespace
00102 
00103 #endif


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