MapCollection.h
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33 
34 #ifndef OCTOMAP_MAP_COLLECTION_H
35 #define OCTOMAP_MAP_COLLECTION_H
36 
37 
38 #include <vector>
39 #include <octomap/MapNode.h>
40 
41 namespace octomap {
42 
43 
44  template <class MAPNODE>
45  class MapCollection {
46  public:
47  MapCollection();
48  MapCollection(std::string filename);
50 
51  void addNode( MAPNODE* node);
52  MAPNODE* addNode(const Pointcloud& cloud, point3d sensor_origin);
53  bool removeNode(const MAPNODE* n);
54  MAPNODE* queryNode(const point3d& p);
55 
56  bool isOccupied(const point3d& p) const;
57  bool isOccupied(float x, float y, float z) const;
58 
59  double getOccupancy(const point3d& p);
60 
61  bool castRay(const point3d& origin, const point3d& direction, point3d& end,
62  bool ignoreUnknownCells=false, double maxRange=-1.0) const;
63 
64  bool writePointcloud(std::string filename);
65  bool write(std::string filename);
66 
67  // TODO
68  void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
69  double maxrange=-1., bool pruning=true, bool lazy_eval = false);
70  // TODO
71  MAPNODE* queryNode(std::string id);
72 
73  typedef typename std::vector<MAPNODE*>::iterator iterator;
74  typedef typename std::vector<MAPNODE*>::const_iterator const_iterator;
75  iterator begin() { return nodes.begin(); }
76  iterator end() { return nodes.end(); }
77  const_iterator begin() const { return nodes.begin(); }
78  const_iterator end() const { return nodes.end(); }
79  size_t size() const { return nodes.size(); }
80 
81  protected:
82  void clear();
83  bool read(std::string filename);
84 
85  // TODO
86  std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
87  // TODO
88  MAPNODE* associate(const Pointcloud& scan);
89 
90  static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
91  static std::string combinePathAndFilename(std::string path, std::string filename);
92  static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
93 
94  protected:
95 
96  std::vector<MAPNODE*> nodes;
97  };
98 
99 } // end namespace
100 
101 #include "octomap/MapCollection.hxx"
102 
103 #endif
std::vector< Pointcloud * > segment(const Pointcloud &scan) const
std::vector< MAPNODE * >::iterator iterator
Definition: MapCollection.h:73
bool removeNode(const MAPNODE *n)
void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
static bool readTagValue(std::string tag, std::ifstream &infile, std::string *value)
void addNode(MAPNODE *node)
static void splitPathAndFilename(std::string &filenamefullpath, std::string *path, std::string *filename)
bool writePointcloud(std::string filename)
MAPNODE * associate(const Pointcloud &scan)
const_iterator begin() const
Definition: MapCollection.h:77
std::vector< MAPNODE * >::const_iterator const_iterator
Definition: MapCollection.h:74
bool castRay(const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
double getOccupancy(const point3d &p)
MAPNODE * queryNode(const point3d &p)
This class represents a three-dimensional vector.
Definition: Vector3.h:50
const_iterator end() const
Definition: MapCollection.h:78
bool read(std::string filename)
static std::string combinePathAndFilename(std::string path, std::string filename)
bool write(std::string filename)
std::vector< MAPNODE * > nodes
Definition: MapCollection.h:96
bool isOccupied(const point3d &p) const
size_t size() const
Definition: MapCollection.h:79


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32