include/octomap/OcTreeNode.h

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#ifndef OCTOMAP_OCTREE_NODE_H
#define OCTOMAP_OCTREE_NODE_H

// $Id: OcTreeNode.h 315 2011-10-17 15:06:59Z ahornung $

/*
 * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "octomap_types.h"
#include "octomap_utils.h"
#include "OcTreeDataNode.h"
#include <limits>

namespace octomap {

  class OcTreeNode : public OcTreeDataNode<float> {

  public:
    OcTreeNode();
    ~OcTreeNode();

    bool createChild(unsigned int i);

    // overloaded, so that the return type is correct:
    inline OcTreeNode* getChild(unsigned int i) {
      return static_cast<OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
    }
    inline const OcTreeNode* getChild(unsigned int i) const {
      return static_cast<const OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
    }

    // -- node occupancy  ----------------------------

    inline double getOccupancy() const { return probability(value); }

    inline float getLogOdds() const{ return value; }
    inline void setLogOdds(float l) { value = l; }

    double getMeanChildLogOdds() const;

    float getMaxChildLogOdds() const;

    inline void updateOccupancyChildren() {
      this->setLogOdds(this->getMaxChildLogOdds());  // conservative
    }

    void addValue(const float& p);
    

  protected:
    // "value" stores log odds occupancy probability
  };

} // end namespace

#endif