Class OcTreeNode

Defined in File OcTreeNode.h

Inheritance Relationships

Base Type

public octomap::OcTreeDataNode< float > (Template Class OcTreeDataNode)

Derived Types

public octomap::ColorOcTreeNode (Class ColorOcTreeNode)
public octomap::OcTreeNodeStamped (Class OcTreeNodeStamped)

Class Documentation

class OcTreeNode : public octomap::OcTreeDataNode<float>

Nodes to be used in OcTree. They represent 3d occupancy grid cells. “value” stores their log-odds occupancy.

Note: If you derive a class (directly or indirectly) from OcTreeNode or OcTreeDataNode, you have to implement (at least) the following functions: createChild(), getChild(), getChild() const, expandNode() to avoid slicing errors and memory-related bugs. See ColorOcTreeNode in ColorOcTree.h for an example.

Subclassed by octomap::ColorOcTreeNode, octomap::OcTreeNodeStamped

Public Functions

OcTreeNode()

~OcTreeNode()

inline double getOccupancy() const

Returns:: occupancy probability of node

inline float getLogOdds() const

Returns:: log odds representation of occupancy probability of node

inline void setLogOdds(float l): sets log odds occupancy of node

double getMeanChildLogOdds() const

Returns:: mean of all children’s occupancy probabilities, in log odds

float getMaxChildLogOdds() const

Returns:: maximum of children’s occupancy probabilities, in log odds

inline void updateOccupancyChildren(): update this node’s occupancy according to its children’s maximum occupancy

void addValue(const float &p): adds p to the node’s logOdds value (with no boundary / threshold checking!)