#include <AbstractOccupancyOcTree.h>

Inheritance diagram for octomap::AbstractOccupancyOcTree:

[legend]

Public Member Functions
	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 (std::istream &s)

bool	readBinary (const std::string &filename)

virtual std::istream &	readBinaryData (std::istream &s)=0
	Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData() More...

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...

virtual void	toMaxLikelihood ()=0

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)=0

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 std::ostream &	writeBinaryData (std::ostream &s) const =0
	Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData() More...

virtual	~AbstractOccupancyOcTree ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

virtual void	clear ()=0

virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type More...

virtual void	expand ()=0

virtual void	getMetricMax (double &x, double &y, double &z)=0

virtual void	getMetricMax (double &x, double &y, double &z) const =0

virtual void	getMetricMin (double &x, double &y, double &z)=0

virtual void	getMetricMin (double &x, double &y, double &z) const =0

virtual void	getMetricSize (double &x, double &y, double &z)=0

virtual double	getResolution () const =0

virtual std::string	getTreeType () const =0
	returns actual class name as string for identification More...

virtual size_t	memoryUsage () const =0

virtual size_t	memoryUsageNode () const =0

virtual void	prune ()=0

virtual std::istream &	readData (std::istream &s)=0

virtual void	setResolution (double res)=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 std::ostream &	writeData (std::ostream &s) const =0

virtual	~AbstractOcTree ()

Protected Member Functions
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...

Protected Attributes
float	clamping_thres_max

float	clamping_thres_min

float	occ_prob_thres_log

float	prob_hit_log

float	prob_miss_log

Static Protected Attributes
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
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)

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)

Detailed Description

Interface class for all octree types that store occupancy. This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Definition at line 52 of file AbstractOccupancyOcTree.h.

Constructor & Destructor Documentation

◆ AbstractOccupancyOcTree()

octomap::AbstractOccupancyOcTree::AbstractOccupancyOcTree ( )

Definition at line 40 of file AbstractOccupancyOcTree.cpp.

◆ ~AbstractOccupancyOcTree()

virtual octomap::AbstractOccupancyOcTree::~AbstractOccupancyOcTree ( )

inlinevirtual

Definition at line 55 of file AbstractOccupancyOcTree.h.

Member Function Documentation

◆ getClampingThresMax()

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 217 of file AbstractOccupancyOcTree.h.

◆ getClampingThresMaxLog()

float octomap::AbstractOccupancyOcTree::getClampingThresMaxLog ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 219 of file AbstractOccupancyOcTree.h.

◆ getClampingThresMin()

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 213 of file AbstractOccupancyOcTree.h.

◆ getClampingThresMinLog()

float octomap::AbstractOccupancyOcTree::getClampingThresMinLog ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 215 of file AbstractOccupancyOcTree.h.

◆ getOccupancyThres()

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const

inline

Returns: threshold (probability) for occupancy - sensor model

Definition at line 199 of file AbstractOccupancyOcTree.h.

◆ getOccupancyThresLog()

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const

inline

Returns: threshold (logodds) for occupancy - sensor model

Definition at line 201 of file AbstractOccupancyOcTree.h.

◆ getProbHit()

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const

inline

Returns: probability for a "hit" in the sensor model (probability)

Definition at line 204 of file AbstractOccupancyOcTree.h.

◆ getProbHitLog()

float octomap::AbstractOccupancyOcTree::getProbHitLog ( ) const

inline

Returns: probability for a "hit" in the sensor model (logodds)

Definition at line 206 of file AbstractOccupancyOcTree.h.

◆ getProbMiss()

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const

inline

Returns: probability for a "miss" in the sensor model (probability)

Definition at line 208 of file AbstractOccupancyOcTree.h.

◆ getProbMissLog()

float octomap::AbstractOccupancyOcTree::getProbMissLog ( ) const

inline

Returns: probability for a "miss" in the sensor model (logodds)

Definition at line 210 of file AbstractOccupancyOcTree.h.

◆ isNodeAtThreshold() [1/2]

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode * occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 124 of file AbstractOccupancyOcTree.h.

◆ isNodeAtThreshold() [2/2]

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode & occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 130 of file AbstractOccupancyOcTree.h.

◆ isNodeOccupied() [1/2]

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode * occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 114 of file AbstractOccupancyOcTree.h.

◆ isNodeOccupied() [2/2]

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode & occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 119 of file AbstractOccupancyOcTree.h.

◆ readBinary() [1/2]

bool octomap::AbstractOccupancyOcTree::readBinary ( std::istream & s )

Reads an OcTree from an input stream. Existing nodes of the tree are deleted before the tree is read.

Returns: success of operation

Definition at line 135 of file AbstractOccupancyOcTree.cpp.

◆ readBinary() [2/2]

bool octomap::AbstractOccupancyOcTree::readBinary ( const std::string & filename )

Reads OcTree from a binary file. Existing nodes of the tree are deleted before the tree is read.

Returns: success of operation

Definition at line 126 of file AbstractOccupancyOcTree.cpp.

◆ readBinaryData()

virtual std::istream& octomap::AbstractOccupancyOcTree::readBinaryData ( std::istream & s )

pure virtual

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ readBinaryLegacyHeader()

bool octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader	(	std::istream &	s,
		unsigned int &	size,
		double &	res
	)

protected

Try to read the old binary format for conversion, will be removed in the future.

Definition at line 98 of file AbstractOccupancyOcTree.cpp.

◆ setClampingThresMax()

void octomap::AbstractOccupancyOcTree::setClampingThresMax ( double thresProb )

inline

sets the maximum threshold for occupancy clamping (sensor model)

Definition at line 196 of file AbstractOccupancyOcTree.h.

◆ setClampingThresMin()

void octomap::AbstractOccupancyOcTree::setClampingThresMin ( double thresProb )

inline

sets the minimum threshold for occupancy clamping (sensor model)

Definition at line 194 of file AbstractOccupancyOcTree.h.

◆ setOccupancyThres()

void octomap::AbstractOccupancyOcTree::setOccupancyThres ( double prob )

inline

sets the threshold for occupancy (sensor model)

Definition at line 188 of file AbstractOccupancyOcTree.h.

◆ setProbHit()

void octomap::AbstractOccupancyOcTree::setProbHit ( double prob )

inline

sets the probability for a "hit" (will be converted to logodds) - sensor model

Definition at line 190 of file AbstractOccupancyOcTree.h.

◆ setProbMiss()

void octomap::AbstractOccupancyOcTree::setProbMiss ( double prob )

inline

sets the probability for a "miss" (will be converted to logodds) - sensor model

Definition at line 192 of file AbstractOccupancyOcTree.h.

◆ toMaxLikelihood()

virtual void octomap::AbstractOccupancyOcTree::toMaxLikelihood ( )

pure virtual

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ updateNode() [1/4]

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

pure virtual

Manipulate log_odds value of voxel directly

Parameters

key	of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ updateNode() [2/4]

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

pure virtual

Manipulate log_odds value of voxel directly. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ updateNode() [3/4]

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = `false`
	)

pure virtual

Integrate occupancy measurement.

Parameters

key	of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ updateNode() [4/4]

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = `false`
	)

pure virtual

Integrate occupancy measurement. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ writeBinary() [1/2]

bool octomap::AbstractOccupancyOcTree::writeBinary ( const std::string & filename )

Writes OcTree to a binary file using writeBinary(). The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns: success of operation

Definition at line 50 of file AbstractOccupancyOcTree.cpp.

◆ writeBinary() [2/2]

bool octomap::AbstractOccupancyOcTree::writeBinary ( std::ostream & s )

Writes compressed maximum likelihood OcTree to a binary stream. The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns: success of operation

Definition at line 72 of file AbstractOccupancyOcTree.cpp.

◆ writeBinaryConst() [1/2]

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( const std::string & filename ) const

Writes OcTree to a binary file using writeBinaryConst(). The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns: success of operation

Definition at line 60 of file AbstractOccupancyOcTree.cpp.

◆ writeBinaryConst() [2/2]

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( std::ostream & s ) const

Writes the maximum likelihood OcTree to a binary stream (const variant). Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns: success of operation

Definition at line 79 of file AbstractOccupancyOcTree.cpp.

◆ writeBinaryData()

virtual std::ostream& octomap::AbstractOccupancyOcTree::writeBinaryData ( std::ostream & s ) const

pure virtual

Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

Member Data Documentation

◆ binaryFileHeader

const std::string octomap::AbstractOccupancyOcTree::binaryFileHeader = "# Octomap OcTree binary file"

staticprotected

Definition at line 235 of file AbstractOccupancyOcTree.h.

◆ clamping_thres_max

float octomap::AbstractOccupancyOcTree::clamping_thres_max

protected

Definition at line 230 of file AbstractOccupancyOcTree.h.

◆ clamping_thres_min

float octomap::AbstractOccupancyOcTree::clamping_thres_min

protected

Definition at line 229 of file AbstractOccupancyOcTree.h.

◆ occ_prob_thres_log

float octomap::AbstractOccupancyOcTree::occ_prob_thres_log

protected

Definition at line 233 of file AbstractOccupancyOcTree.h.

◆ prob_hit_log

float octomap::AbstractOccupancyOcTree::prob_hit_log

protected

Definition at line 231 of file AbstractOccupancyOcTree.h.

◆ prob_miss_log

float octomap::AbstractOccupancyOcTree::prob_miss_log

protected

Definition at line 232 of file AbstractOccupancyOcTree.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AbstractOccupancyOcTree()

◆ ~AbstractOccupancyOcTree()

Member Function Documentation

◆ getClampingThresMax()

◆ getClampingThresMaxLog()

◆ getClampingThresMin()

◆ getClampingThresMinLog()

◆ getOccupancyThres()

◆ getOccupancyThresLog()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ isNodeAtThreshold() [1/2]

◆ isNodeAtThreshold() [2/2]

◆ isNodeOccupied() [1/2]

◆ isNodeOccupied() [2/2]

◆ readBinary() [1/2]

◆ readBinary() [2/2]

◆ readBinaryData()

◆ readBinaryLegacyHeader()

◆ setClampingThresMax()

◆ setClampingThresMin()

◆ setOccupancyThres()

◆ setProbHit()

◆ setProbMiss()

◆ toMaxLikelihood()

◆ updateNode() [1/4]

◆ updateNode() [2/4]

◆ updateNode() [3/4]

◆ updateNode() [4/4]

◆ writeBinary() [1/2]

◆ writeBinary() [2/2]

◆ writeBinaryConst() [1/2]

◆ writeBinaryConst() [2/2]

◆ writeBinaryData()

Member Data Documentation

◆ binaryFileHeader

◆ clamping_thres_max

◆ clamping_thres_min

◆ occ_prob_thres_log

◆ prob_hit_log

◆ prob_miss_log