OcTreeStamped.cpp
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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
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00033 
00034 #include "octomap/OcTreeStamped.h"
00035 
00036 namespace octomap {
00037 
00038   unsigned int OcTreeStamped::getLastUpdateTime() {
00039     // this value is updated whenever inner nodes are 
00040     // updated using updateOccupancyChildren()
00041     return root->getTimestamp();
00042   }
00043 
00044   void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) {
00045     unsigned int query_time = (unsigned int) time(NULL); 
00046 
00047     for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs(); 
00048         it!= end; ++it) {
00049       if ( this->isNodeOccupied(*it) 
00050            && ((query_time - it->getTimestamp()) > time_thres) ) {
00051         integrateMissNoTime(&*it);
00052       }
00053     }
00054   }  
00055 
00056   void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const {
00057     OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, update);
00058     node->updateTimestamp();
00059   }
00060 
00061   void OcTreeStamped::integrateMissNoTime(OcTreeNodeStamped* node) const{
00062     OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, prob_miss_log);
00063   }
00064 
00065   OcTreeStamped::StaticMemberInitializer OcTreeStamped::ocTreeStampedMemberInit;
00066 
00067 } // end namespace
00068 


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Feb 11 2016 23:50:59