octomap 1.5.0
include/octomap/OcTree.h
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00001 #ifndef OCTOMAP_OCTREE_H
00002 #define OCTOMAP_OCTREE_H
00003 
00004 // $Id: OcTree.h 391 2012-06-21 10:07:53Z ahornung $
00005 
00014 /*
00015  * Copyright (c) 2009, 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 #include "OccupancyOcTreeBase.h"
00044 #include "OcTreeNode.h"
00045 #include "ScanGraph.h"
00046 
00047 namespace octomap {
00048 
00054   class OcTree : public OccupancyOcTreeBase <OcTreeNode> {
00055 
00056   public:
00058     OcTree(double resolution) : OccupancyOcTreeBase<OcTreeNode>(resolution) {};
00059 
00065     OcTree(std::string _filename);
00066 
00067     virtual ~OcTree(){};
00068 
00071     OcTree* create() const {return new OcTree(resolution); }
00072 
00073     std::string getTreeType() const {return "OcTree";}
00074 
00075 
00076   protected:
00081     class StaticMemberInitializer{
00082     public:
00083       StaticMemberInitializer() {
00084         OcTree* tree = new OcTree(0.1);
00085         AbstractOcTree::registerTreeType(tree);
00086       }
00087     };
00089     static StaticMemberInitializer ocTreeMemberInit;
00090   };
00091 
00092 } // end namespace
00093 
00094 #endif