MapNode.h
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33 
34 #ifndef OCTOMAP_MAP_NODE_H
35 #define OCTOMAP_MAP_NODE_H
36 
37 
38 #include <string>
39 #include <octomap/OcTree.h>
40 
41 namespace octomap {
42 
43  template <class TREETYPE>
44  class MapNode {
45 
46  public:
47  MapNode();
48  MapNode(TREETYPE* node_map, pose6d origin);
49  MapNode(std::string filename, pose6d origin);
50  MapNode(const Pointcloud& cloud, pose6d origin);
51  ~MapNode();
52 
53  typedef TREETYPE TreeType;
54 
55  TREETYPE* getMap() { return node_map; }
56 
57  void updateMap(const Pointcloud& cloud, point3d sensor_origin);
58 
59  inline std::string getId() { return id; }
60  inline void setId(std::string newid) { id = newid; }
61 
62  inline pose6d getOrigin() { return origin; }
63 
64  // returns cloud of voxel centers in global reference frame
66  bool writeMap(std::string filename);
67 
68  protected:
69  TREETYPE* node_map; // occupancy grid map
70  pose6d origin; // origin and orientation relative to parent
71  std::string id;
72 
73  void clear();
74  bool readMap(std::string filename);
75 
76  };
77 
78 } // end namespace
79 
80 #include "octomap/MapNode.hxx"
81 
82 #endif
bool readMap(std::string filename)
std::string getId()
Definition: MapNode.h:59
void updateMap(const Pointcloud &cloud, point3d sensor_origin)
pose6d origin
Definition: MapNode.h:70
TREETYPE TreeType
Definition: MapNode.h:53
Pointcloud generatePointcloud()
TREETYPE * node_map
Definition: MapNode.h:69
pose6d getOrigin()
Definition: MapNode.h:62
bool writeMap(std::string filename)
TREETYPE * getMap()
Definition: MapNode.h:55
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
This class represents a three-dimensional vector.
Definition: Vector3.h:50
std::string id
Definition: MapNode.h:71
void setId(std::string newid)
Definition: MapNode.h:60


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