Template Class MapCollection

Defined in File MapCollection.h

Class Documentation

template<class MAPNODE> class MapCollection

Public Types

typedef std::vector<MAPNODE*>::iterator iterator

typedef std::vector<MAPNODE*>::const_iterator const_iterator

Public Functions

MapCollection()

MapCollection(std::string filename)

~MapCollection()

void addNode(MAPNODE *node)

MAPNODE *addNode(const Pointcloud &cloud, point3d sensor_origin)

bool removeNode(const MAPNODE *n)

MAPNODE *queryNode(const point3d &p)

bool isOccupied(const point3d &p) const

bool isOccupied(float x, float y, float z) const

double getOccupancy(const point3d &p)

bool castRay(const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells = false, double maxRange = -1.0) const

bool writePointcloud(std::string filename)

bool write(std::string filename)

void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange = -1., bool pruning = true, bool lazy_eval = false)

MAPNODE *queryNode(std::string id)

inline iterator begin()

inline iterator end()

inline const_iterator begin() const

inline const_iterator end() const

inline size_t size() const

Protected Functions

void clear()

bool read(std::string filename)

std::vector<Pointcloud*> segment(const Pointcloud &scan) const

MAPNODE *associate(const Pointcloud &scan)

Protected Attributes

std::vector<MAPNODE*> nodes

Protected Static Functions

static void splitPathAndFilename(std::string &filenamefullpath, std::string *path, std::string *filename)

static std::string combinePathAndFilename(std::string path, std::string filename)

static bool readTagValue(std::string tag, std::ifstream &infile, std::string *value)