octomap Namespace Reference

Classes
class	AbstractOccupancyOcTree
class	AbstractOcTree
class	AbstractOcTreeNode
class	ColorOcTree
class	ColorOcTreeNode
class	CountingOcTree
class	CountingOcTreeNode
class	KeyRay
class	MapCollection
class	MapNode
class	OccupancyOcTreeBase
class	OcTree
class	OcTreeBase
class	OcTreeBaseImpl
class	OcTreeDataNode
class	OcTreeKey
class	OcTreeNode
class	OcTreeNodeStamped
class	OcTreeStamped
class	Pointcloud
class	ScanEdge
class	ScanGraph
class	ScanNode

Typedefs
typedef uint16_t	key_type
typedef unordered_ns::unordered_map< OcTreeKey, bool, OcTreeKey::KeyHash >	KeyBoolMap
typedef unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHash >	KeySet
typedef std::pair< point3d, double >	OcTreeVolume
	A voxel defined by its center point3d and its side length. More...
typedef octomath::Vector3	point3d
	Use Vector3 (float precision) as a point3d in octomap. More...
typedef std::vector< octomath::Vector3 >	point3d_collection
typedef std::list< octomath::Vector3 >	point3d_list
typedef octomath::Pose6D	pose6d
	Use our Pose6D (float precision) as pose6d in octomap. More...

Functions
uint8_t	computeChildIdx (const OcTreeKey &key, int depth)
	generate child index (between 0 and 7) from key at given tree depth More...
void	computeChildKey (unsigned int pos, key_type center_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key)
OcTreeKey	computeIndexKey (key_type level, const OcTreeKey &key)
float	logodds (double probability)
	compute log-odds from probability: More...
std::ostream &	operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
	user friendly output in format (r g b) More...
double	probability (double logodds)
	compute probability from logodds: More...

Variables
static const int	edgeTable [256]
static const int	triTable [256][16]
static const point3d	vertexList [12]

Detailed Description

Namespace the OctoMap library and visualization tools

Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbourke.net/geometry/polygonise/ Used with permission here under BSD license.

Typedef Documentation

typedef uint16_t octomap::key_type

Definition at line 64 of file OcTreeKey.h.

typedef unordered_ns::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap

Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)

Definition at line 135 of file OcTreeKey.h.

typedef unordered_ns::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet

Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.

Note

you need to use boost::unordered_set instead if your compiler does not yet support tr1!

Definition at line 128 of file OcTreeKey.h.

typedef std::pair<point3d, double> octomap::OcTreeVolume

A voxel defined by its center point3d and its side length.

Definition at line 56 of file octomap_types.h.

typedef octomath::Vector3 octomap::point3d

Use Vector3 (float precision) as a point3d in octomap.

Definition at line 48 of file octomap_types.h.

typedef std::vector<octomath::Vector3> octomap::point3d_collection

Definition at line 52 of file octomap_types.h.

typedef std::list<octomath::Vector3> octomap::point3d_list

Definition at line 53 of file octomap_types.h.

typedef octomath::Pose6D octomap::pose6d

Use our Pose6D (float precision) as pose6d in octomap.

Definition at line 50 of file octomap_types.h.

Function Documentation

uint8_t octomap::computeChildIdx ( const OcTreeKey &  key, int  depth  )

inline

generate child index (between 0 and 7) from key at given tree depth

Definition at line 206 of file OcTreeKey.h.

void octomap::computeChildKey ( unsigned int  pos, key_type  center_offset_key, const OcTreeKey &  parent_key, OcTreeKey &  child_key  )

inline

Computes the key of a child node while traversing the octree, given child index and current key

Parameters

[in]	pos	index of child node (0..7)
[in]	center_offset_key	constant offset of octree keys
[in]	parent_key	current (parent) key
[out]	child_key	computed child key

Definition at line 192 of file OcTreeKey.h.

OcTreeKey octomap::computeIndexKey ( key_type  level, const OcTreeKey &  key  )

inline

Generates a unique key for all keys on a certain level of the tree

Parameters

level	from the bottom (= tree_depth - depth of key)
key	input indexing key (at lowest resolution / level)

Returns

key corresponding to the input key at the given level

Definition at line 227 of file OcTreeKey.h.

float octomap::logodds ( double  probability )

inline

compute log-odds from probability:

Definition at line 42 of file octomap_utils.h.

std::ostream & octomap::operator<<	(	std::ostream &	out,
		ColorOcTreeNode::Color const &	c
	)

user friendly output in format (r g b)

Definition at line 253 of file ColorOcTree.cpp.

double octomap::probability ( double  logodds )

inline

compute probability from logodds:

Definition at line 47 of file octomap_utils.h.

Variable Documentation

const int octomap::edgeTable[256]

static

Definition at line 44 of file MCTables.h.

const int octomap::triTable[256][16]

static

Definition at line 78 of file MCTables.h.

const point3d octomap::vertexList[12]

static

Initial value:

= 
        {
                point3d(1, 0, -1),
                point3d(0, -1, -1),
                point3d(-1, 0, -1),
                point3d(0, 1, -1),
                
                point3d(1, 0, 1),
                point3d(0, -1, 1),
                point3d(-1, 0, 1),
                point3d(0, 1, 1),
                
                point3d(1, 1, 0),
                point3d(1, -1, 0),
                point3d(-1, -1, 0),
                point3d(-1, 1, 0),
        }

Definition at line 336 of file MCTables.h.