This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()). More...

Inheritance diagram for octomap::AbstractOcTree:

Collaboration diagram for octomap::AbstractOcTree:

Public Member Functions
	AbstractOcTree ()
virtual void	clear ()=0
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type
virtual void	expand ()=0
virtual void	getMetricMax (double &x, double &y, double &z)=0
virtual void	getMetricMax (double &x, double &y, double &z) const =0
virtual void	getMetricMin (double &x, double &y, double &z)=0
virtual void	getMetricMin (double &x, double &y, double &z) const =0
virtual void	getMetricSize (double &x, double &y, double &z)=0
virtual double	getResolution () const =0
virtual std::string	getTreeType () const =0
	returns actual class name as string for identification
virtual size_t	memoryUsage () const =0
virtual size_t	memoryUsageNode () const =0
virtual void	prune ()=0
virtual std::istream &	readData (std::istream &s)=0
	Read all nodes from the input stream (without file header), for this the tree needs to be already created.
virtual void	setResolution (double res)=0
virtual size_t	size () const =0
bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization)
bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization)
virtual std::ostream &	writeData (std::ostream &s) const =0
	Write complete state of tree to stream (without file header) unmodified.
virtual	~AbstractOcTree ()
Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
	Creates a certain OcTree (factory pattern)
static AbstractOcTree *	read (std::istream &s)
	Read the file header, create the appropriate class and deserialize.
static AbstractOcTree *	read (const std::string &filename)
	Read the file header, create the appropriate class and deserialize.
Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void	registerTreeType (AbstractOcTree *tree)
Static Protected Attributes
static const std::string	fileHeader = "# Octomap OcTree file"
Friends
class	StaticMapInit

Detailed Description

This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()).

Constructor & Destructor Documentation

octomap::AbstractOcTree::AbstractOcTree ( )

virtual octomap::AbstractOcTree::~AbstractOcTree ( ) [inline, virtual]

Member Function Documentation

virtual void octomap::AbstractOcTree::clear ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by octomap::AbstractOccupancyOcTree::readBinary(), and octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader().

virtual AbstractOcTree* octomap::AbstractOcTree::create ( ) const [pure virtual]

virtual constructor: creates a new object of same type

Implemented in octomap::OcTreeBase< NODE >.

Referenced by createTree().

AbstractOcTree * octomap::AbstractOcTree::createTree	(	const std::string	id,
		double	res
	)		`[static]`

Creates a certain OcTree (factory pattern)

Parameters:

id	unique ID of OcTree
res	resolution of OcTree

Returns:: pointer to newly created OcTree (empty). NULL if the ID is unknown!

References create(), OCTOMAP_ERROR, and setResolution().

Referenced by read().

virtual void octomap::AbstractOcTree::expand ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const `[pure virtual]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const `[pure virtual]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual double octomap::AbstractOcTree::getResolution ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), write(), and octomap::AbstractOccupancyOcTree::writeBinaryConst().

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const [pure virtual]

returns actual class name as string for identification

Implemented in octomap::OcTreeBase< NODE >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), registerTreeType(), write(), and octomap::AbstractOccupancyOcTree::writeBinaryConst().

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::prune ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by octomap::AbstractOccupancyOcTree::writeBinary().

AbstractOcTree * octomap::AbstractOcTree::read ( const std::string & filename ) [static]

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

 AbstractOcTree* tree = AbstractOcTree::read("filename.ot");
 OcTree* octree = dynamic_cast<OcTree*>(tree);

References OCTOMAP_ERROR_STR.

AbstractOcTree * octomap::AbstractOcTree::read ( std::istream & s ) [static]

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself.

References createTree(), fileHeader, OCTOMAP_DEBUG_STR, OCTOMAP_ERROR_STR, readData(), readHeader(), and size().

virtual std::istream& octomap::AbstractOcTree::readData ( std::istream & s ) [pure virtual]

Read all nodes from the input stream (without file header), for this the tree needs to be already created.

For general file IO, you should probably use AbstractOcTree::read() instead.

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by read().

bool octomap::AbstractOcTree::readHeader	(	std::istream &	s,
		std::string &	id,
		unsigned &	size,
		double &	res
	)		`[static, protected]`

References OCTOMAP_ERROR_STR, OCTOMAP_WARNING, OCTOMAP_WARNING_STR, and size().

Referenced by read(), and octomap::AbstractOccupancyOcTree::readBinary().

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree * tree ) [static, protected]

References getTreeType().

Referenced by octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), and octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer().

virtual void octomap::AbstractOcTree::setResolution ( double res ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by createTree(), and octomap::AbstractOccupancyOcTree::readBinary().

virtual size_t octomap::AbstractOcTree::size ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), read(), octomap::AbstractOccupancyOcTree::readBinary(), readHeader(), write(), and octomap::AbstractOccupancyOcTree::writeBinaryConst().

bool octomap::AbstractOcTree::write ( const std::string & filename ) const

Write file header and complete tree to file (serialization)

References OCTOMAP_ERROR_STR.

Referenced by main().

bool octomap::AbstractOcTree::write ( std::ostream & s ) const

Write file header and complete tree to stream (serialization)

References fileHeader, getResolution(), getTreeType(), size(), and writeData().

virtual std::ostream& octomap::AbstractOcTree::writeData ( std::ostream & s ) const [pure virtual]

Write complete state of tree to stream (without file header) unmodified.

Pruning the tree first produces smaller files (lossless compression)

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by write().

Friends And Related Function Documentation

friend class StaticMapInit [friend]

Field Documentation

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file" [static, protected]

Referenced by read(), and write().

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

include/octomap/AbstractOcTree.h
src/AbstractOcTree.cpp

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Field Documentation