#include <octree.h>

Inheritance diagram for tesseract_geometry::Octree:

Public Types
using	ConstPtr = std::shared_ptr< const Octree >

using	Ptr = std::shared_ptr< Octree >

Public Types inherited from tesseract_geometry::Geometry
using	ConstPtr = std::shared_ptr< const Geometry >

using	Ptr = std::shared_ptr< Geometry >

Public Member Functions
long	calcNumSubShapes () const
	Calculate the number of sub shapes that would get generated for this octree. More...

Geometry::Ptr	clone () const override final
	Create a copy of this shape. More...

const std::shared_ptr< const octomap::OcTree > &	getOctree () const

bool	getPruned () const

OctreeSubType	getSubType () const

	Octree ()=default

	Octree (std::shared_ptr< const octomap::OcTree > octree, OctreeSubType sub_type, bool pruned=false, bool binary_octree=false)

bool	operator!= (const Octree &rhs) const

bool	operator== (const Octree &rhs) const

void	update ()
	Octrees are typically generated from 3D sensor data so this method should be used to efficiently update the collision shape. More...

	~Octree () override=default

Public Member Functions inherited from tesseract_geometry::Geometry
	Geometry (const Geometry &)=default

	Geometry (Geometry &&)=default

	Geometry (GeometryType type=GeometryType::UNINITIALIZED)

GeometryType	getType () const
	Get the geometry type. More...

const boost::uuids::uuid &	getUUID () const
	Get the geometry UUID. More...

bool	operator!= (const Geometry &rhs) const

Geometry &	operator= (const Geometry &)=default

Geometry &	operator= (Geometry &&)=default

bool	operator== (const Geometry &rhs) const

void	setUUID (const boost::uuids::uuid &uuid)
	Set the geometry UUID. More...

virtual	~Geometry ()=default

Static Public Member Functions
static void	prune (octomap::OcTree &octree)
	A custom octree prune which will prune if all children are above the occupancy threshold. More...

Private Member Functions
template<class Archive >
void	load (Archive &ar, const unsigned int version)

template<class Archive >
void	save (Archive &ar, const unsigned int version) const

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Static Private Member Functions
static bool	isNodeCollapsible (octomap::OcTree &octree, octomap::OcTreeNode *node)

static bool	pruneNode (octomap::OcTree &octree, octomap::OcTreeNode *node)

static void	pruneRecurs (octomap::OcTree &octree, octomap::OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

Private Attributes
bool	binary_octree_ { false }

std::shared_ptr< const octomap::OcTree >	octree_

bool	pruned_ { false }

double	resolution_ { 0.01 }

OctreeSubType	sub_type_ { OctreeSubType::BOX }

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 58 of file octree.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_geometry::Octree::ConstPtr = std::shared_ptr<const Octree>

Definition at line 62 of file octree.h.

◆ Ptr

using tesseract_geometry::Octree::Ptr = std::shared_ptr<Octree>

Definition at line 61 of file octree.h.

Constructor & Destructor Documentation

◆ Octree() [1/2]

tesseract_geometry::Octree::Octree	(	std::shared_ptr< const octomap::OcTree >	octree,
		OctreeSubType	sub_type,
		bool	pruned = `false`,
		bool	binary_octree = `false`
	)

Definition at line 40 of file octree.cpp.

◆ Octree() [2/2]

tesseract_geometry::Octree::Octree ( )

default

◆ ~Octree()

tesseract_geometry::Octree::~Octree ( )

overridedefault

Member Function Documentation

◆ calcNumSubShapes()

long tesseract_geometry::Octree::calcNumSubShapes ( ) const

Calculate the number of sub shapes that would get generated for this octree.

This is expensive and should not be called multiple times

Returns: number of sub shapes

Definition at line 57 of file octree.cpp.

◆ clone()

Geometry::Ptr tesseract_geometry::Octree::clone ( ) const

finaloverridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

Definition at line 55 of file octree.cpp.

◆ getOctree()

const std::shared_ptr< const octomap::OcTree > & tesseract_geometry::Octree::getOctree ( ) const

Definition at line 49 of file octree.cpp.

◆ getPruned()

bool tesseract_geometry::Octree::getPruned ( ) const

Definition at line 53 of file octree.cpp.

◆ getSubType()

OctreeSubType tesseract_geometry::Octree::getSubType ( ) const

Definition at line 51 of file octree.cpp.

◆ isNodeCollapsible()

bool tesseract_geometry::Octree::isNodeCollapsible	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node
	)

staticprivate

Definition at line 69 of file octree.cpp.

◆ load()

template<class Archive >

void tesseract_geometry::Octree::load	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 219 of file octree.cpp.

◆ operator!=()

bool tesseract_geometry::Octree::operator!= ( const Octree & rhs ) const

Definition at line 192 of file octree.cpp.

◆ operator==()

bool tesseract_geometry::Octree::operator== ( const Octree & rhs ) const

Definition at line 158 of file octree.cpp.

◆ prune()

void tesseract_geometry::Octree::prune ( octomap::OcTree & octree )

static

A custom octree prune which will prune if all children are above the occupancy threshold.

This is different from the octomap::OcTree::prune which requires all children to have the same occupancy to be collapsed.

Parameters

octree The octree to be pruned.

Definition at line 144 of file octree.cpp.

◆ pruneNode()

bool tesseract_geometry::Octree::pruneNode	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node
	)

staticprivate

Definition at line 97 of file octree.cpp.

◆ pruneRecurs()

void tesseract_geometry::Octree::pruneRecurs	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		unsigned int &	num_pruned
	)

staticprivate

Definition at line 115 of file octree.cpp.

◆ save()

template<class Archive >

void tesseract_geometry::Octree::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

Definition at line 195 of file octree.cpp.

◆ serialize()

template<class Archive >

void tesseract_geometry::Octree::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 251 of file octree.cpp.

◆ update()

void tesseract_geometry::Octree::update ( )

inline

Octrees are typically generated from 3D sensor data so this method should be used to efficiently update the collision shape.

Definition at line 86 of file octree.h.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 115 of file octree.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 116 of file octree.h.

Member Data Documentation

◆ binary_octree_

bool tesseract_geometry::Octree::binary_octree_ { false }

private

Definition at line 102 of file octree.h.

◆ octree_

std::shared_ptr<const octomap::OcTree> tesseract_geometry::Octree::octree_

private

Definition at line 98 of file octree.h.

◆ pruned_

bool tesseract_geometry::Octree::pruned_ { false }

private

Definition at line 101 of file octree.h.

◆ resolution_

double tesseract_geometry::Octree::resolution_ { 0.01 }

private

Definition at line 100 of file octree.h.

◆ sub_type_

OctreeSubType tesseract_geometry::Octree::sub_type_ { OctreeSubType::BOX }

private

Definition at line 99 of file octree.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Octree() [1/2]

◆ Octree() [2/2]

◆ ~Octree()

Member Function Documentation

◆ calcNumSubShapes()

◆ clone()

◆ getOctree()

◆ getPruned()

◆ getSubType()

◆ isNodeCollapsible()

◆ load()

◆ operator!=()

◆ operator==()

◆ prune()

◆ pruneNode()

◆ pruneRecurs()

◆ save()

◆ serialize()

◆ update()

Friends And Related Function Documentation

◆ boost::serialization::access

◆ tesseract_common::Serialization

Member Data Documentation

◆ binary_octree_

◆ octree_

◆ pruned_

◆ resolution_

◆ sub_type_