#include <OcTreeStamped.h>
Inheritance diagram for octomap::OcTreeStamped:
Classes | |
| class | StaticMemberInitializer |
Public Member Functions | |
| OcTreeStamped * | create () const |
| void | degradeOutdatedNodes (unsigned int time_thres) |
| unsigned int | getLastUpdateTime () |
| std::string | getTreeType () const |
| returns actual class name as string for identification More... | |
| void | integrateMissNoTime (OcTreeNodeStamped *node) const |
| OcTreeStamped (double resolution) | |
| Default constructor, sets resolution of leafs. More... | |
| virtual void | updateNodeLogOdds (OcTreeNodeStamped *node, const float &update) const |
| update logodds value of node by adding to the current value. More... | |
 Public Member Functions inherited from octomap::OccupancyOcTreeBase< OcTreeNodeStamped > | |
| bool | bbxSet () const |
| virtual bool | castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
| KeyBoolMap::const_iterator | changedKeysBegin () const |
| KeyBoolMap::const_iterator | changedKeysEnd () const |
| Iterator to traverse all keys of changed nodes. More... | |
| void | computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
| void | computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
| void | enableChangeDetection (bool enable) |
| track or ignore changes while inserting scans (default: ignore) More... | |
| point3d | getBBXBounds () const |
| point3d | getBBXCenter () const |
| point3d | getBBXMax () const |
| point3d | getBBXMin () const |
| bool | getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const |
| virtual bool | getRayIntersection (const point3d &origin, const point3d &direction, const point3d ¢er, point3d &intersection, double delta=0.0) const |
| bool | inBBX (const OcTreeKey &key) const |
| bool | inBBX (const point3d &p) const |
| virtual void | insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false) |
| virtual bool | insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false) |
| virtual void | integrateHit (OcTreeNodeStamped *occupancyNode) const |
| integrate a "hit" measurement according to the tree's sensor model More... | |
| virtual void | integrateMiss (OcTreeNodeStamped *occupancyNode) const |
| integrate a "miss" measurement according to the tree's sensor model More... | |
| bool | isChangeDetectionEnabled () const |
| virtual void | nodeToMaxLikelihood (OcTreeNodeStamped &occupancyNode) const |
| converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More... | |
| virtual void | nodeToMaxLikelihood (OcTreeNodeStamped *occupancyNode) const |
| converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More... | |
| size_t | numChangesDetected () const |
| Number of changes since last reset. More... | |
| OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNodeStamped > &rhs) | |
| Copy constructor. More... | |
| OccupancyOcTreeBase (double resolution) | |
| Default constructor, sets resolution of leafs. More... | |
| std::istream & | readBinaryData (std::istream &s) |
| std::istream & | readBinaryNode (std::istream &s, OcTreeNodeStamped *node) |
| void | resetChangeDetection () |
| Reset the set of changed keys. Call this after you obtained all changed nodes. More... | |
| void | setBBXMax (const point3d &max) |
| sets the maximum for a query bounding box to use More... | |
| void | setBBXMin (const point3d &min) |
| sets the minimum for a query bounding box to use More... | |
| virtual OcTreeNodeStamped * | setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false) |
| virtual void | toMaxLikelihood () |
| void | updateInnerOccupancy () |
| virtual OcTreeNodeStamped * | updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | updateNode (const point3d &value, bool occupied, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false) |
| virtual OcTreeNodeStamped * | updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false) |
| void | useBBXLimit (bool enable) |
| use or ignore BBX limit (default: ignore) More... | |
| std::ostream & | writeBinaryData (std::ostream &s) const |
| std::ostream & | writeBinaryNode (std::ostream &s, const OcTreeNodeStamped *node) const |
| virtual | ~OccupancyOcTreeBase () |
| Public Member Functions inherited from octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| key_type | adjustKeyAtDepth (key_type key, unsigned int depth) const |
| iterator | begin (unsigned char maxDepth=0) const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. More... | |
| void | clear () |
| Deletes the complete tree structure. More... | |
| void | clearKeyRays () |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| key_type | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. More... | |
| key_type | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. More... | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
| bool | coordToKeyChecked (double coordinate, key_type &key) const |
| bool | coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const |
| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
| OcTreeNodeStamped * | createNodeChild (OcTreeNodeStamped *node, unsigned int childIdx) |
| Creates (allocates) the i-th child of the node. More... | |
| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
| bool | deleteNode (const point3d &value, unsigned int depth=0) |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| void | deleteNodeChild (OcTreeNodeStamped *node, unsigned int childIdx) |
| Deletes the i-th child of the node. More... | |
| const iterator | end () const |
| const leaf_iterator | end_leafs () const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| const tree_iterator | end_tree () const |
| virtual void | expand () |
| virtual void | expandNode (OcTreeNodeStamped *node) |
| virtual void | getMetricMax (double &x, double &y, double &z) |
| maximum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMax (double &x, double &y, double &z) const |
| maximum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMin (double &x, double &y, double &z) const |
| minimum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| const OcTreeNodeStamped * | getNodeChild (const OcTreeNodeStamped *node, unsigned int childIdx) const |
| OcTreeNodeStamped * | getNodeChild (OcTreeNodeStamped *node, unsigned int childIdx) const |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. More... | |
| double | getResolution () const |
| OcTreeNodeStamped * | getRoot () const |
| unsigned int | getTreeDepth () const |
| std::string | getTreeType () const |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
| virtual bool | isNodeCollapsible (const OcTreeNodeStamped *node) const |
| point3d | keyToCoord (const OcTreeKey &key) const |
| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| double | keyToCoord (key_type key) const |
| double | keyToCoord (key_type key, unsigned depth) const |
| unsigned long long | memoryFullGrid () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| bool | nodeChildExists (const OcTreeNodeStamped *node, unsigned int childIdx) const |
| bool | nodeHasChildren (const OcTreeNodeStamped *node) const |
| OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs) | |
| Deep copy constructor. More... | |
| OcTreeBaseImpl (double resolution) | |
| bool | operator== (const OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs) const |
| virtual void | prune () |
| virtual bool | pruneNode (OcTreeNodeStamped *node) |
| std::istream & | readData (std::istream &s) |
| OcTreeNodeStamped * | search (const OcTreeKey &key, unsigned int depth=0) const |
| OcTreeNodeStamped * | search (const point3d &value, unsigned int depth=0) const |
| OcTreeNodeStamped * | search (double x, double y, double z, unsigned int depth=0) const |
| void | setResolution (double r) |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > &rhs) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| virtual | ~OcTreeBaseImpl () |
| Public Member Functions inherited from octomap::AbstractOccupancyOcTree | |
| AbstractOccupancyOcTree () | |
| double | getClampingThresMax () const |
| float | getClampingThresMaxLog () const |
| double | getClampingThresMin () const |
| float | getClampingThresMinLog () const |
| double | getOccupancyThres () const |
| float | getOccupancyThresLog () const |
| double | getProbHit () const |
| float | getProbHitLog () const |
| double | getProbMiss () const |
| float | getProbMissLog () const |
| bool | isNodeAtThreshold (const OcTreeNode &occupancyNode) const |
| queries whether a node is at the clamping threshold according to the tree's parameter More... | |
| bool | isNodeAtThreshold (const OcTreeNode *occupancyNode) const |
| queries whether a node is at the clamping threshold according to the tree's parameter More... | |
| bool | isNodeOccupied (const OcTreeNode &occupancyNode) const |
| queries whether a node is occupied according to the tree's parameter for "occupancy" More... | |
| bool | isNodeOccupied (const OcTreeNode *occupancyNode) const |
| queries whether a node is occupied according to the tree's parameter for "occupancy" More... | |
| bool | readBinary (const std::string &filename) |
| bool | readBinary (std::istream &s) |
| void | setClampingThresMax (double thresProb) |
| sets the maximum threshold for occupancy clamping (sensor model) More... | |
| void | setClampingThresMin (double thresProb) |
| sets the minimum threshold for occupancy clamping (sensor model) More... | |
| void | setOccupancyThres (double prob) |
| sets the threshold for occupancy (sensor model) More... | |
| void | setProbHit (double prob) |
| sets the probability for a "hit" (will be converted to logodds) - sensor model More... | |
| void | setProbMiss (double prob) |
| sets the probability for a "miss" (will be converted to logodds) - sensor model More... | |
| bool | writeBinary (const std::string &filename) |
| bool | writeBinary (std::ostream &s) |
| bool | writeBinaryConst (const std::string &filename) const |
| bool | writeBinaryConst (std::ostream &s) const |
| virtual | ~AbstractOccupancyOcTree () |
| Public Member Functions inherited from octomap::AbstractOcTree | |
| AbstractOcTree () | |
| virtual double | getResolution () const =0 |
| virtual size_t | memoryUsage () const =0 |
| virtual size_t | memoryUsageNode () const =0 |
| virtual size_t | size () const =0 |
| bool | write (const std::string &filename) const |
| Write file header and complete tree to file (serialization) More... | |
| bool | write (std::ostream &s) const |
| Write file header and complete tree to stream (serialization) More... | |
| virtual | ~AbstractOcTree () |
Static Protected Attributes | |
| static StaticMemberInitializer | ocTreeStampedMemberInit |
| to ensure static initialization (only once) More... | |
| Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree | |
| static const std::string | binaryFileHeader = "# Octomap OcTree binary file" |
| Static Protected Attributes inherited from octomap::AbstractOcTree | |
| static const std::string | fileHeader = "# Octomap OcTree file" |
Additional Inherited Members | |
| Public Types inherited from octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > | |
| typedef leaf_iterator | iterator |
| typedef OcTreeNodeStamped | NodeType |
| Make the templated NODE type available from the outside. More... | |
| Static Public Member Functions inherited from octomap::AbstractOcTree | |
| static AbstractOcTree * | createTree (const std::string id, double res) |
| static AbstractOcTree * | read (const std::string &filename) |
| static AbstractOcTree * | read (std::istream &s) |
| Protected Member Functions inherited from octomap::OccupancyOcTreeBase< OcTreeNodeStamped > | |
| bool | integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false) |
| OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| OcTreeNodeStamped * | setNodeValueRecurs (OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false) |
| void | toMaxLikelihoodRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth) |
| void | updateInnerOccupancyRecurs (OcTreeNodeStamped *node, unsigned int depth) |
| OcTreeNodeStamped * | updateNodeRecurs (OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false) |
| Protected Member Functions inherited from octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > | |
| void | allocNodeChildren (OcTreeNodeStamped *node) |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
| void | calcNumNodesRecurs (OcTreeNodeStamped *node, size_t &num_nodes) const |
| void | deleteNodeRecurs (OcTreeNodeStamped *node) |
| bool | deleteNodeRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() More... | |
| void | expandRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() More... | |
| size_t | getNumLeafNodesRecurs (const OcTreeNodeStamped *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors More... | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| void | pruneRecurs (OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() More... | |
| std::istream & | readNodesRecurs (OcTreeNodeStamped *, std::istream &s) |
| recursive call of readData() More... | |
| std::ostream & | writeNodesRecurs (const OcTreeNodeStamped *, std::ostream &s) const |
| recursive call of writeData() More... | |
| Protected Member Functions inherited from octomap::AbstractOccupancyOcTree | |
| bool | readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res) |
| Try to read the old binary format for conversion, will be removed in the future. More... | |
| Static Protected Member Functions inherited from octomap::AbstractOcTree | |
| static bool | readHeader (std::istream &s, std::string &id, unsigned &size, double &res) |
| static void | registerTreeType (AbstractOcTree *tree) |
| Protected Attributes inherited from octomap::OccupancyOcTreeBase< OcTreeNodeStamped > | |
| point3d | bbx_max |
| OcTreeKey | bbx_max_key |
| point3d | bbx_min |
| OcTreeKey | bbx_min_key |
| KeyBoolMap | changed_keys |
| Set of leaf keys (lowest level) which changed since last resetChangeDetection. More... | |
| bool | use_bbx_limit |
| use bounding box for queries (needs to be set)? More... | |
| bool | use_change_detection |
| Protected Attributes inherited from octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree > | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading More... | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z More... | |
| double | min_value [3] |
| double | resolution |
| in meters More... | |
| double | resolution_factor |
| = 1. / resolution More... | |
| OcTreeNodeStamped * | root |
| Pointer to the root NODE, NULL for empty tree. More... | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. More... | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
| Protected Attributes inherited from octomap::AbstractOccupancyOcTree | |
| float | clamping_thres_max |
| float | clamping_thres_min |
| float | occ_prob_thres_log |
| float | prob_hit_log |
| float | prob_miss_log |
Detailed Description
Definition at line 78 of file OcTreeStamped.h.
Constructor & Destructor Documentation
◆ OcTreeStamped()
| octomap::OcTreeStamped::OcTreeStamped | ( | double | resolution | ) |
Default constructor, sets resolution of leafs.
Definition at line 38 of file OcTreeStamped.cpp.
Member Function Documentation
◆ create()
|
inlinevirtual |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
Implements octomap::AbstractOcTree.
Definition at line 86 of file OcTreeStamped.h.
◆ degradeOutdatedNodes()
| void octomap::OcTreeStamped::degradeOutdatedNodes | ( | unsigned int | time_thres | ) |
Definition at line 49 of file OcTreeStamped.cpp.
◆ getLastUpdateTime()
| unsigned int octomap::OcTreeStamped::getLastUpdateTime | ( | ) |
- Returns
- timestamp of last update
Definition at line 43 of file OcTreeStamped.cpp.
◆ getTreeType()
|
inlinevirtual |
returns actual class name as string for identification
Implements octomap::AbstractOcTree.
Definition at line 88 of file OcTreeStamped.h.
◆ integrateMissNoTime()
| void octomap::OcTreeStamped::integrateMissNoTime | ( | OcTreeNodeStamped * | node | ) | const |
Definition at line 66 of file OcTreeStamped.cpp.
◆ updateNodeLogOdds()
|
virtual |
update logodds value of node by adding to the current value.
Reimplemented from octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.
Definition at line 61 of file OcTreeStamped.cpp.
Member Data Documentation
◆ ocTreeStampedMemberInit
|
staticprotected |
to ensure static initialization (only once)
Definition at line 122 of file OcTreeStamped.h.
The documentation for this class was generated from the following files: