OcTreeNode.h
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
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33 
34 #ifndef OCTOMAP_OCTREE_NODE_H
35 #define OCTOMAP_OCTREE_NODE_H
36 
37 #include "octomap_types.h"
38 #include "octomap_utils.h"
39 #include "OcTreeDataNode.h"
40 #include <limits>
41 
42 namespace octomap {
43 
55  class OcTreeNode : public OcTreeDataNode<float> {
56 
57  public:
58  OcTreeNode();
59  ~OcTreeNode();
60 
61 
62  // -- node occupancy ----------------------------
63 
65  inline double getOccupancy() const { return probability(value); }
66 
68  inline float getLogOdds() const{ return value; }
70  inline void setLogOdds(float l) { value = l; }
71 
75  double getMeanChildLogOdds() const;
76 
80  float getMaxChildLogOdds() const;
81 
83  inline void updateOccupancyChildren() {
84  this->setLogOdds(this->getMaxChildLogOdds()); // conservative
85  }
86 
88  void addValue(const float& p);
89 
90 
91  protected:
92  // "value" stores log odds occupancy probability
93  };
94 
95 } // end namespace
96 
97 #endif
octomap::OcTreeDataNode
Definition: OcTreeDataNode.h:63
octomap::OcTreeDataNode< float >::value
float value
stored data (payload)
Definition: OcTreeDataNode.h:128
octomap::probability
double probability(double logodds)
compute probability from logodds:
Definition: octomap_utils.h:47
octomap::OcTreeNode::getLogOdds
float getLogOdds() const
Definition: OcTreeNode.h:68
octomap::OcTreeNode::getMaxChildLogOdds
float getMaxChildLogOdds() const
Definition: OcTreeNode.cpp:76
octomap::OcTreeNode::~OcTreeNode
~OcTreeNode()
Definition: OcTreeNode.cpp:50
octomap::OcTreeNode
Definition: OcTreeNode.h:55
octomap::OcTreeNode::OcTreeNode
OcTreeNode()
Definition: OcTreeNode.cpp:45
octomap::OcTreeNode::updateOccupancyChildren
void updateOccupancyChildren()
update this node's occupancy according to its children's maximum occupancy
Definition: OcTreeNode.h:83
octomap_types.h
octomap::OcTreeNode::addValue
void addValue(const float &p)
adds p to the node's logOdds value (with no boundary / threshold checking!)
Definition: OcTreeNode.cpp:91
OcTreeDataNode.h
octomap::OcTreeNode::getMeanChildLogOdds
double getMeanChildLogOdds() const
Definition: OcTreeNode.cpp:58
octomap::OcTreeNode::setLogOdds
void setLogOdds(float l)
sets log odds occupancy of node
Definition: OcTreeNode.h:70
octomap::OcTreeNode::getOccupancy
double getOccupancy() const
Definition: OcTreeNode.h:65
octomap
octomap_utils.h


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Sun Oct 3 2021 02:39:36