rtabmap::OctoMap Class Reference

#include <OctoMap.h>

List of all members.

Public Member Functions
const std::map< int, Transform > &	addedNodes () const
void	addToCache (int nodeId, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &ground, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &obstacles)
void	clear ()
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	createCloud (unsigned int treeDepth=0, std::vector< int > *obstacleIndices=0, std::vector< int > *emptyIndices=0) const
cv::Mat	createProjectionMap (float &xMin, float &yMin, float &gridCellSize, float minGridSize)
	OctoMap (float voxelSize=0.1f)
const octomap::ColorOcTree *	octree () const
void	update (const std::map< int, Transform > &poses)
bool	writeBinary (const std::string &path)
virtual	~OctoMap ()
Private Attributes
std::map< int, Transform >	addedNodes_
std::map< int, std::pair < pcl::PointCloud < pcl::PointXYZRGB >::Ptr, pcl::PointCloud < pcl::PointXYZRGB >::Ptr > >	cache_
octomap::KeyRay	keyRay_
std::map < octomap::ColorOcTreeNode *, OcTreeNodeInfo >	occupiedCells_
octomap::ColorOcTree *	octree_

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Detailed Description

Definition at line 58 of file OctoMap.h.

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Constructor & Destructor Documentation

rtabmap::OctoMap::OctoMap

(

float

voxelSize = 0.1f

)

Definition at line 37 of file OctoMap.cpp.

rtabmap::OctoMap::~OctoMap

(

)

[virtual]

Definition at line 43 of file OctoMap.cpp.

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Member Function Documentation

const std::map<int, Transform>& rtabmap::OctoMap::addedNodes

(

)

const [inline]

Definition at line 62 of file OctoMap.h.

void rtabmap::OctoMap::addToCache	(	int	nodeId,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	ground,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	obstacles
	)

Definition at line 58 of file OctoMap.cpp.

void rtabmap::OctoMap::clear

(

)

Definition at line 49 of file OctoMap.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::OctoMap::createCloud	(	unsigned int	treeDepth = 0,
		std::vector< int > *	obstacleIndices = 0,
		std::vector< int > *	emptyIndices = 0
	)		const

Definition at line 352 of file OctoMap.cpp.

cv::Mat rtabmap::OctoMap::createProjectionMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize,
		float	minGridSize
	)

Definition at line 440 of file OctoMap.cpp.

const octomap::ColorOcTree* rtabmap::OctoMap::octree

(

)

const [inline]

Definition at line 68 of file OctoMap.h.

void rtabmap::OctoMap::update

(

const std::map< int, Transform > &

poses

)

Definition at line 66 of file OctoMap.cpp.

bool rtabmap::OctoMap::writeBinary

(

const std::string &

path

)

Definition at line 506 of file OctoMap.cpp.

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Member Data Documentation

std::map<int, Transform> rtabmap::OctoMap::addedNodes_ [private]

Definition at line 90 of file OctoMap.h.

std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > rtabmap::OctoMap::cache_ [private]

Definition at line 87 of file OctoMap.h.

octomap::KeyRay rtabmap::OctoMap::keyRay_ [private]

Definition at line 91 of file OctoMap.h.

std::map<octomap::ColorOcTreeNode*, OcTreeNodeInfo> rtabmap::OctoMap::occupiedCells_ [private]

Definition at line 89 of file OctoMap.h.

octomap::ColorOcTree* rtabmap::OctoMap::octree_ [private]

Definition at line 88 of file OctoMap.h.

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The documentation for this class was generated from the following files:

• OctoMap.h
• OctoMap.cpp