#include <OccupancyOcTreeBase.h>

Inheritance diagram for octomap::OccupancyOcTreeBase< NODE >:

Public Member Functions
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 &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const point3d &p) const

bool	inBBX (const OcTreeKey &key) 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 (NODE *occupancyNode) const
	integrate a "hit" measurement according to the tree's sensor model More...

virtual void	integrateMiss (NODE *occupancyNode) const
	integrate a "miss" measurement according to the tree's sensor model More...

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (NODE *occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More...

virtual void	nodeToMaxLikelihood (NODE &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 (double resolution)
	Default constructor, sets resolution of leafs. More...

	OccupancyOcTreeBase (const OccupancyOcTreeBase< NODE > &rhs)
	Copy constructor. More...

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, NODE *node)

void	resetChangeDetection ()
	Reset the set of changed keys. Call this after you obtained all changed nodes. More...

void	setBBXMax (point3d &max)
	sets the maximum for a query bounding box to use More...

void	setBBXMin (point3d &min)
	sets the minimum for a query bounding box to use More...

virtual NODE *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual NODE *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual NODE *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

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

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

virtual NODE *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

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

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

virtual NODE *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual void	updateNodeLogOdds (NODE *occupancyNode, const float &update) const
	update logodds value of node by adding to the current value. More...

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 NODE *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from octomap::OcTreeBaseImpl< NODE, 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

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 (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (double x, double y, double z) 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...

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 x, double y, double z, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const

NODE *	createNodeChild (NODE *node, unsigned int childIdx)
	Creates (allocates) the i-th child of the node. More...

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

void	deleteNodeChild (NODE *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 (NODE *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...

NODE *	getNodeChild (NODE *node, unsigned int childIdx) const

const NODE *	getNodeChild (const NODE *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

NODE *	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 NODE *node) const

double	keyToCoord (key_type key, unsigned depth) const

double	keyToCoord (key_type key) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const NODE *node, unsigned int childIdx) const

bool	nodeHasChildren (const NODE *node) const

	OcTreeBaseImpl (double resolution)

	OcTreeBaseImpl (const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &rhs)
	Deep copy constructor. More...

bool	operator== (const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

virtual bool	pruneNode (NODE *node)

std::istream &	readData (std::istream &s)

NODE *	search (double x, double y, double z, unsigned int depth=0) const

NODE *	search (const point3d &value, unsigned int depth=0) const

NODE *	search (const OcTreeKey &key, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< NODE, 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 (std::istream &s)

bool	readBinary (const std::string &filename)

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

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 ()

Protected Member Functions
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

NODE *	setNodeValueRecurs (NODE *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (NODE *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (NODE *node, unsigned int depth)

NODE *	updateNodeRecurs (NODE *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< NODE, AbstractOccupancyOcTree >
void	allocNodeChildren (NODE *node)

void	calcMinMax ()
	recalculates min and max in x, y, z. Does nothing when tree size didn't change. More...

void	calcNumNodesRecurs (NODE *node, size_t &num_nodes) const

void	deleteNodeRecurs (NODE *node)

bool	deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
	recursive call of deleteNode() More...

void	expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth)
	recursive call of expand() More...

size_t	getNumLeafNodesRecurs (const NODE *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 (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune() More...

std::istream &	readNodesRecurs (NODE *, std::istream &s)
	recursive call of readData() More...

std::ostream &	writeNodesRecurs (const NODE *, 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...

Protected Attributes
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< NODE, 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...

NODE *	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

Additional Inherited Members
Public Types inherited from octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef NODE	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)

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)

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"

Detailed Description

template<class NODE>
class octomap::OccupancyOcTreeBase< NODE >

Base implementation for Occupancy Octrees (e.g. for mapping). AbstractOccupancyOcTree serves as a common base interface for all these classes. Each class used as NODE type needs to be derived from OccupancyOcTreeNode.

This tree implementation has a maximum depth of 16. At a resolution of 1 cm, values have to be < +/- 327.68 meters (2^15)

This limitation enables the use of an efficient key generation method which uses the binary representation of the data.

Note: The tree does not save individual points.

Template Parameters

NODE	Node class to be used in tree (usually derived from OcTreeDataNode)

Definition at line 69 of file OccupancyOcTreeBase.h.

Constructor & Destructor Documentation

◆ OccupancyOcTreeBase() [1/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase ( double resolution )

Default constructor, sets resolution of leafs.

◆ ~OccupancyOcTreeBase()

template<class NODE>

virtual octomap::OccupancyOcTreeBase< NODE >::~OccupancyOcTreeBase ( )

virtual

◆ OccupancyOcTreeBase() [2/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase ( const OccupancyOcTreeBase< NODE > & rhs )

Copy constructor.

◆ OccupancyOcTreeBase() [3/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase	(	double	resolution,
		unsigned int	tree_depth,
		unsigned int	tree_max_val
	)

protected

Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!

Member Function Documentation

◆ bbxSet()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::bbxSet ( ) const

inline

Definition at line 335 of file OccupancyOcTreeBase.h.

◆ castRay()

template<class NODE>

virtual bool octomap::OccupancyOcTreeBase< NODE >::castRay	(	const point3d &	origin,
		const point3d &	direction,
		point3d &	end,
		bool	ignoreUnknownCells = `false`,
		double	maxRange = `-1.0`
	)		const

virtual

Performs raycasting in 3d, similar to computeRay(). Can be called in parallel e.g. with OpenMP for a speedup.

A ray is cast from 'origin' with a given direction, the first non-free cell is returned in 'end' (as center coordinate). This could also be the origin node if it is occupied or unknown. castRay() returns true if an occupied node was hit by the raycast. If the raycast returns false you can search() the node at 'end' and see whether it's unknown space.

Parameters

[in]	origin	starting coordinate of ray
[in]	direction	A vector pointing in the direction of the raycast (NOT a point in space). Does not need to be normalized.
[out]	end	returns the center of the last cell on the ray. If the function returns true, it is occupied.
[in]	ignoreUnknownCells	whether unknown cells are ignored (= treated as free). If false (default), the raycast aborts when an unknown cell is hit and returns false.
[in]	maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns: true if an occupied cell was hit, false if the maximum range or octree bounds are reached, or if an unknown node was hit.

◆ changedKeysBegin()

template<class NODE>

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< NODE >::changedKeysBegin ( ) const

inline

Iterator to traverse all keys of changed nodes. you need to enableChangeDetection() first. Here, an OcTreeKey always refers to a node at the lowest tree level (its size is the minimum tree resolution)

Definition at line 363 of file OccupancyOcTreeBase.h.

◆ changedKeysEnd()

template<class NODE>

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< NODE >::changedKeysEnd ( ) const

inline

Iterator to traverse all keys of changed nodes.

Definition at line 366 of file OccupancyOcTreeBase.h.

◆ computeDiscreteUpdate()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::computeDiscreteUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange
	)

Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones. This function first discretizes the scan with the octree grid, which results in fewer raycasts (=speedup) but a slightly different result than computeUpdate().

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

◆ computeUpdate()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::computeUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange
	)

Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones.

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

◆ enableChangeDetection()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::enableChangeDetection ( bool enable )

inline

track or ignore changes while inserting scans (default: ignore)

Definition at line 353 of file OccupancyOcTreeBase.h.

◆ getBBXBounds()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXBounds ( ) const

◆ getBBXCenter()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXCenter ( ) const

◆ getBBXMax()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXMax ( ) const

inline

Returns: the currently set maximum for bounding box queries, if set

Definition at line 343 of file OccupancyOcTreeBase.h.

◆ getBBXMin()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXMin ( ) const

inline

Returns: the currently set minimum for bounding box queries, if set

Definition at line 341 of file OccupancyOcTreeBase.h.

◆ getNormals()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::getNormals	(	const point3d &	point,
		std::vector< point3d > &	normals,
		bool	unknownStatus = `true`
	)		const

Performs a step of the marching cubes surface reconstruction algorithm to retreive the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.

Parameters

[in]	voxel	for which retreive the normals
[out]	triangles	normals
[in]	unknownStatus	consider unknown cells as free (false) or occupied (default, true).

Returns: True if the input voxel is known in the occupancy grid, and false if it is unknown.

◆ getRayIntersection()

template<class NODE>

virtual bool octomap::OccupancyOcTreeBase< NODE >::getRayIntersection	(	const point3d &	origin,
		const point3d &	direction,
		const point3d &	center,
		point3d &	intersection,
		double	delta = `0.0`
	)		const

virtual

Retrieves the entry point of a ray into a voxel. This is the closest intersection point of the ray originating from origin and a plane of the axis aligned cube.

Parameters

[in]	origin	Starting point of ray
[in]	direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
[in]	center	The center of the voxel where the ray terminated. This is the output of castRay.
[out]	intersection	The entry point of the ray into the voxel, on the voxel surface.
[in]	delta	A small increment to avoid ambiguity of beeing exactly on a voxel surface. A positive value will get the point out of the hit voxel, while a negative valuewill get it inside.

Returns: Whether or not an intesection point has been found. Either, the ray never cross the voxel or the ray is exactly parallel to the only surface it intersect.

◆ inBBX() [1/2]

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::inBBX ( const point3d & p ) const

Returns: true if point is in the currently set bounding box

◆ inBBX() [2/2]

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::inBBX ( const OcTreeKey & key ) const

Returns: true if key is in the currently set bounding box

◆ insertPointCloud() [1/3]

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud	(	const Pointcloud &	scan,
		const octomap::point3d &	sensor_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtual

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP. Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note: replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

◆ insertPointCloud() [2/3]

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud	(	const Pointcloud &	scan,
		const point3d &	sensor_origin,
		const pose6d &	frame_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtual

Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP. Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note: replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints) relative to frame origin
sensor_origin	origin of sensor relative to frame origin
frame_origin	origin of reference frame, determines transform to be applied to cloud and sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

◆ insertPointCloud() [3/3]

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud	(	const ScanNode &	scan,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtual

Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.

Note: replaces insertScan

Parameters

scan	ScanNode contains Pointcloud data and frame/sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call updateInnerOccupancy() when done.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.

◆ insertPointCloudRays()

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::insertPointCloudRays	(	const Pointcloud &	scan,
		const point3d &	sensor_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`
	)

virtual

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP. This function simply inserts all rays of the point clouds as batch operation. Discretization effects can lead to the deletion of occupied space, it is usually recommended to use insertPointCloud() instead.

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.

◆ insertRay()

template<class NODE>

virtual bool octomap::OccupancyOcTreeBase< NODE >::insertRay	(	const point3d &	origin,
		const point3d &	end,
		double	maxrange = `-1.0`,
		bool	lazy_eval = `false`
	)

virtual

Insert one ray between origin and end into the tree. integrateMissOnRay() is called for the ray, the end point is updated as occupied. It is usually more efficient to insert complete pointcloudsm with insertPointCloud() or insertPointCloudRays().

Parameters

origin	origin of sensor in global coordinates
end	endpoint of measurement in global coordinates
maxrange	maximum range after which the raycast should be aborted
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: success of operation

◆ integrateHit()

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::integrateHit ( NODE * occupancyNode ) const

virtual

integrate a "hit" measurement according to the tree's sensor model

◆ integrateMiss()

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::integrateMiss ( NODE * occupancyNode ) const

virtual

integrate a "miss" measurement according to the tree's sensor model

◆ integrateMissOnRay()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay	(	const point3d &	origin,
		const point3d &	end,
		bool	lazy_eval = `false`
	)

inlineprotected

Traces a ray from origin to end and updates all voxels on the way as free. The volume containing "end" is not updated.

◆ isChangeDetectionEnabled()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::isChangeDetectionEnabled ( ) const

inline

Definition at line 354 of file OccupancyOcTreeBase.h.

◆ nodeToMaxLikelihood() [1/2]

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood ( NODE * occupancyNode ) const

virtual

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

◆ nodeToMaxLikelihood() [2/2]

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood ( NODE & occupancyNode ) const

virtual

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

◆ numChangesDetected()

template<class NODE>

size_t octomap::OccupancyOcTreeBase< NODE >::numChangesDetected ( ) const

inline

Number of changes since last reset.

Definition at line 369 of file OccupancyOcTreeBase.h.

◆ readBinaryData()

template<class NODE>

std::istream& octomap::OccupancyOcTreeBase< NODE >::readBinaryData ( std::istream & s )

virtual

Reads only the data (=complete tree structure) from the input stream. The tree needs to be constructed with the proper header information beforehand, see readBinary().

Implements octomap::AbstractOccupancyOcTree.

◆ readBinaryNode()

template<class NODE>

std::istream& octomap::OccupancyOcTreeBase< NODE >::readBinaryNode	(	std::istream &	s,
		NODE *	node
	)

Read node from binary stream (max-likelihood value), recursively continue with all children.

This will set the log_odds_occupancy value of all leaves to either free or occupied.

◆ resetChangeDetection()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::resetChangeDetection ( )

inline

Reset the set of changed keys. Call this after you obtained all changed nodes.

Definition at line 356 of file OccupancyOcTreeBase.h.

◆ setBBXMax()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::setBBXMax ( point3d & max )

sets the maximum for a query bounding box to use

◆ setBBXMin()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::setBBXMin ( point3d & min )

sets the minimum for a query bounding box to use

◆ setNodeValue() [1/3]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::setNodeValue	(	const OcTreeKey &	key,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtual

Set log_odds value of voxel to log_odds_value. This only works if key is at the lowest octree level

Parameters

key	OcTreeKey of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the 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

◆ setNodeValue() [2/3]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::setNodeValue	(	const point3d &	value,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtual

Set log_odds value of voxel to log_odds_value. Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the 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

◆ setNodeValue() [3/3]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::setNodeValue	(	double	x,
		double	y,
		double	z,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtual

Set log_odds value of voxel to log_odds_value. Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

x
y
z
log_odds_value	value to be set as the log_odds value of the 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

◆ setNodeValueRecurs()

template<class NODE>

NODE* octomap::OccupancyOcTreeBase< NODE >::setNodeValueRecurs	(	NODE *	node,
		bool	node_just_created,
		const OcTreeKey &	key,
		unsigned int	depth,
		const float &	log_odds_value,
		bool	lazy_eval = `false`
	)

protected

◆ toMaxLikelihood()

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihood ( )

virtual

Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds. This enables a very efficient compression if you call prune() afterwards.

Implements octomap::AbstractOccupancyOcTree.

◆ toMaxLikelihoodRecurs()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihoodRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth
	)

protected

◆ updateInnerOccupancy()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancy ( )

Updates the occupancy of all inner nodes to reflect their children's occupancy. If you performed batch-updates with lazy evaluation enabled, you must call this before any queries to ensure correct multi-resolution behavior.

◆ updateInnerOccupancyRecurs()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs	(	NODE *	node,
		unsigned int	depth
	)

protected

◆ updateNode() [1/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). This only works if key is at the lowest octree level

Parameters

key	OcTreeKey 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

Implements octomap::AbstractOccupancyOcTree.

◆ updateNode() [2/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() 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

Implements octomap::AbstractOccupancyOcTree.

◆ updateNode() [3/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	double	x,
		double	y,
		double	z,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.

Parameters

x
y
z
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

◆ updateNode() [4/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = `false`
	)

virtual

Integrate occupancy measurement.

Parameters

key	OcTreeKey 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

Implements octomap::AbstractOccupancyOcTree.

◆ updateNode() [5/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = `false`
	)

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

Implements octomap::AbstractOccupancyOcTree.

◆ updateNode() [6/6]

template<class NODE>

virtual NODE* octomap::OccupancyOcTreeBase< NODE >::updateNode	(	double	x,
		double	y,
		double	z,
		bool	occupied,
		bool	lazy_eval = `false`
	)

virtual

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

Parameters

x
y
z
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

◆ updateNodeLogOdds()

template<class NODE>

virtual void octomap::OccupancyOcTreeBase< NODE >::updateNodeLogOdds	(	NODE *	occupancyNode,
		const float &	update
	)		const

virtual

update logodds value of node by adding to the current value.

Reimplemented in octomap::OcTreeStamped.

◆ updateNodeRecurs()

template<class NODE>

NODE* octomap::OccupancyOcTreeBase< NODE >::updateNodeRecurs	(	NODE *	node,
		bool	node_just_created,
		const OcTreeKey &	key,
		unsigned int	depth,
		const float &	log_odds_update,
		bool	lazy_eval = `false`
	)

protected

◆ useBBXLimit()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::useBBXLimit ( bool enable )

inline

use or ignore BBX limit (default: ignore)

Definition at line 334 of file OccupancyOcTreeBase.h.

◆ writeBinaryData()

template<class NODE>

std::ostream& octomap::OccupancyOcTreeBase< NODE >::writeBinaryData ( std::ostream & s ) const

virtual

Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)

Implements octomap::AbstractOccupancyOcTree.

◆ writeBinaryNode()

template<class NODE>

std::ostream& octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode	(	std::ostream &	s,
		const NODE *	node
	)		const

Write node to binary stream (max-likelihood value), recursively continue with all children.

This will discard the log_odds_occupancy value, writing all leaves as either free or occupied.

Parameters

s
node	OcTreeNode to write out, will recurse to all children

Returns

Member Data Documentation

◆ bbx_max

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::bbx_max

protected

Definition at line 493 of file OccupancyOcTreeBase.h.

◆ bbx_max_key

template<class NODE>

OcTreeKey octomap::OccupancyOcTreeBase< NODE >::bbx_max_key

protected

Definition at line 495 of file OccupancyOcTreeBase.h.

◆ bbx_min

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::bbx_min

protected

Definition at line 492 of file OccupancyOcTreeBase.h.

◆ bbx_min_key

template<class NODE>

OcTreeKey octomap::OccupancyOcTreeBase< NODE >::bbx_min_key

protected

Definition at line 494 of file OccupancyOcTreeBase.h.

◆ changed_keys

template<class NODE>

KeyBoolMap octomap::OccupancyOcTreeBase< NODE >::changed_keys

protected

Set of leaf keys (lowest level) which changed since last resetChangeDetection.

Definition at line 499 of file OccupancyOcTreeBase.h.

◆ use_bbx_limit

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::use_bbx_limit

protected

use bounding box for queries (needs to be set)?

Definition at line 491 of file OccupancyOcTreeBase.h.

◆ use_change_detection

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::use_change_detection

protected

Definition at line 497 of file OccupancyOcTreeBase.h.

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

OccupancyOcTreeBase.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class NODE> class octomap::OccupancyOcTreeBase< NODE >

Constructor & Destructor Documentation

◆ OccupancyOcTreeBase() [1/3]

◆ ~OccupancyOcTreeBase()

◆ OccupancyOcTreeBase() [2/3]

◆ OccupancyOcTreeBase() [3/3]

Member Function Documentation

◆ bbxSet()

◆ castRay()

◆ changedKeysBegin()

◆ changedKeysEnd()

◆ computeDiscreteUpdate()

◆ computeUpdate()

◆ enableChangeDetection()

◆ getBBXBounds()

◆ getBBXCenter()

◆ getBBXMax()

◆ getBBXMin()

◆ getNormals()

◆ getRayIntersection()

◆ inBBX() [1/2]

◆ inBBX() [2/2]

◆ insertPointCloud() [1/3]

◆ insertPointCloud() [2/3]

◆ insertPointCloud() [3/3]

◆ insertPointCloudRays()

◆ insertRay()

◆ integrateHit()

◆ integrateMiss()

◆ integrateMissOnRay()

◆ isChangeDetectionEnabled()

◆ nodeToMaxLikelihood() [1/2]

◆ nodeToMaxLikelihood() [2/2]

◆ numChangesDetected()

◆ readBinaryData()

◆ readBinaryNode()

◆ resetChangeDetection()

◆ setBBXMax()

◆ setBBXMin()

◆ setNodeValue() [1/3]

◆ setNodeValue() [2/3]

◆ setNodeValue() [3/3]

◆ setNodeValueRecurs()

◆ toMaxLikelihood()

◆ toMaxLikelihoodRecurs()

◆ updateInnerOccupancy()

◆ updateInnerOccupancyRecurs()

◆ updateNode() [1/6]

◆ updateNode() [2/6]

◆ updateNode() [3/6]

◆ updateNode() [4/6]

◆ updateNode() [5/6]

◆ updateNode() [6/6]

◆ updateNodeLogOdds()

◆ updateNodeRecurs()

◆ useBBXLimit()

◆ writeBinaryData()

◆ writeBinaryNode()

Member Data Documentation

◆ bbx_max

◆ bbx_max_key

◆ bbx_min

◆ bbx_min_key

◆ changed_keys

◆ use_bbx_limit

◆ use_change_detection

template<class NODE>
class octomap::OccupancyOcTreeBase< NODE >