octomap 1.5.0
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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