octomap 1.5.0
include/octomap/CountingOcTree.h
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00001 #ifndef OCTOMAP_COUNTING_OCTREE_HH
00002 #define OCTOMAP_COUNTING_OCTREE_HH
00003 
00004 // $Id: CountingOcTree.h 391 2012-06-21 10:07:53Z ahornung $
00005 
00014 /*
00015  * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg
00016  * All rights reserved.
00017  *
00018  * Redistribution and use in source and binary forms, with or without
00019  * modification, are permitted provided that the following conditions are met:
00020  *
00021  *     * Redistributions of source code must retain the above copyright
00022  *       notice, this list of conditions and the following disclaimer.
00023  *     * Redistributions in binary form must reproduce the above copyright
00024  *       notice, this list of conditions and the following disclaimer in the
00025  *       documentation and/or other materials provided with the distribution.
00026  *     * Neither the name of the University of Freiburg nor the names of its
00027  *       contributors may be used to endorse or promote products derived from
00028  *       this software without specific prior written permission.
00029  *
00030  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00031  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00032  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00033  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00034  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00035  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00036  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00037  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00038  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00039  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00040  * POSSIBILITY OF SUCH DAMAGE.
00041  */
00042 
00043 
00044 #include <stdio.h>
00045 #include "OcTreeBase.h"
00046 #include "OcTreeDataNode.h"
00047 
00048 namespace octomap {
00049 
00059   class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
00060 
00061   public:
00062 
00063     CountingOcTreeNode();
00064     ~CountingOcTreeNode();
00065     bool createChild(unsigned int i);
00066 
00067     inline CountingOcTreeNode* getChild(unsigned int i) {
00068       return static_cast<CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
00069     }
00070 
00071     inline const CountingOcTreeNode* getChild(unsigned int i) const {
00072       return static_cast<const CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
00073     }
00074 
00075     inline unsigned int getCount() const { return getValue(); }
00076     inline void increaseCount() { value++; }
00077     inline void setCount(unsigned c) {this->setValue(c); }
00078 
00079     // overloaded:
00080     void expandNode();
00081   };
00082 
00083 
00084 
00094   class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
00095 
00096   public:
00098     CountingOcTree(double resolution) : OcTreeBase<CountingOcTreeNode>(resolution) {};    
00099     virtual CountingOcTreeNode* updateNode(const point3d& value);
00100     CountingOcTreeNode* updateNode(const OcTreeKey& k);
00101     void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
00102 
00103   protected:
00104 
00105     void getCentersMinHitsRecurs( point3d_list& node_centers,
00106                                   unsigned int& min_hits,
00107                                   unsigned int max_depth,
00108                                   CountingOcTreeNode* node, unsigned int depth,
00109                                   const OcTreeKey& parent_key) const;
00110 
00115     class StaticMemberInitializer{
00116        public:
00117          StaticMemberInitializer() {
00118            CountingOcTree* tree = new CountingOcTree(0.1);
00119            AbstractOcTree::registerTreeType(tree);
00120          }
00121     };
00123     static StaticMemberInitializer countingOcTreeMemberInit;
00124   };
00125 
00126 
00127 }
00128 
00129 
00130 #endif