octree.h
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35 
38 #ifndef FCL_OCTREE_H
39 #define FCL_OCTREE_H
40 
41 #include "fcl/config.h"
42 
43 #if FCL_HAVE_OCTOMAP
44 
45 #include <memory>
46 #include <array>
47 
48 #include <octomap/octomap.h>
49 #include "fcl/math/bv/AABB.h"
50 #include "fcl/geometry/shape/box.h"
52 
53 namespace fcl
54 {
55 
63 template <typename S>
64 class FCL_EXPORT OcTree : public CollisionGeometry<S>
65 {
66 private:
67  std::shared_ptr<const octomap::OcTree> tree;
68 
69  S default_occupancy;
70 
71  S occupancy_threshold_log_odds;
72  S free_threshold_log_odds;
73 
74 public:
75 
76  typedef octomap::OcTreeNode OcTreeNode;
77 
79  OcTree(S resolution);
80 
82  OcTree(const std::shared_ptr<const octomap::OcTree>& tree_);
83 
85  void computeLocalAABB();
86 
88  AABB<S> getRootBV() const;
89 
91  OcTreeNode* getRoot() const;
92 
94  bool isNodeOccupied(const OcTreeNode* node) const;
95 
97  bool isNodeFree(const OcTreeNode* node) const;
98 
100  bool isNodeUncertain(const OcTreeNode* node) const;
101 
105  std::vector<std::array<S, 6> > toBoxes() const;
106 
109  S getOccupancyThres() const;
110 
113  S getFreeThres() const;
114 
115  S getDefaultOccupancy() const;
116 
117  void setCellDefaultOccupancy(S d);
118 
119  void setOccupancyThres(S d);
120 
121  void setFreeThres(S d);
122 
124  OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx);
125 
127  const OcTreeNode* getNodeChild(const OcTreeNode* node, unsigned int childIdx) const;
128 
130  bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const;
131 
133  bool nodeHasChildren(const OcTreeNode* node) const;
134 
136  OBJECT_TYPE getObjectType() const;
137 
139  NODE_TYPE getNodeType() const;
140 
171  const OcTreeNode* getNodeByQueryCellId(
172  intptr_t id,
173  const Vector3<S>& point,
174  AABB<S>* aabb = nullptr,
175  octomap::OcTreeKey* key = nullptr,
176  unsigned int* depth = nullptr) const;
177 
178 private:
179  // Get the leaf_bbx_iterator pointing to the given cell given a point on or
180  // in the cell and the query id.
181  // Returns true if the cell was found, and false otherwise.
182  bool getOctomapIterator(
183  intptr_t id,
184  const Vector3<S>& point,
185  octomap::OcTree::leaf_bbx_iterator* out) const;
186 };
187 
188 using OcTreef = OcTree<float>;
189 using OcTreed = OcTree<double>;
190 
192 template <typename S>
193 FCL_EXPORT
194 void computeChildBV(const AABB<S>& root_bv, unsigned int i, AABB<S>& child_bv);
195 
196 } // namespace fcl
197 
199 
200 #endif // #if FCL_HAVE_OCTOMAP
201 
202 #endif
collision_object.h
octree-inl.h
box.h
octomap::OcTreeNode
octomap::OcTreeKey
fcl::time::point
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: time.h:52
fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_geometry.h:50
fcl::intptr_t
std::intptr_t intptr_t
Definition: types.h:63
octomap.h
AABB.h
aabb
SaPCollisionManager< S >::SaPAABB * aabb
back pointer to SAP interval
Definition: broadphase_SaP.h:184
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:51