leaf_bbx_iterator Class Reference

Bounding-box leaf iterator. More...

Inheritance diagram for leaf_bbx_iterator:

Collaboration diagram for leaf_bbx_iterator:

Public Member Functions
point3d	getCoordinate () const
	return the center coordinate of the current node
unsigned	getDepth () const
	return depth of the current node
OcTreeKey	getIndexKey () const
const OcTreeKey &	getKey () const
double	getSize () const
double	getX () const
double	getY () const
double	getZ () const
	leaf_bbx_iterator (const leaf_bbx_iterator &other)
	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *tree, const point3d &min, const point3d &max, unsigned char depth=0)
	Constructor of the iterator.
	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *tree, const OcTreeKey &min, const OcTreeKey &max, unsigned char depth=0)
	Constructor of the iterator.
	leaf_bbx_iterator ()
bool	operator!= (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack.
NodeType &	operator* ()
	Return the current node in the octree which the iterator is referring to.
const NodeType &	operator* () const
	Return the current node in the octree which the iterator is referring to.
leaf_bbx_iterator &	operator++ ()
	prefix increment operator of iterator (++it)
leaf_bbx_iterator	operator++ (int)
	postfix increment operator of iterator (it++)
NodeType const *	operator-> () const
	Ptr operator will return the current node in the octree which the iterator is referring to.
NodeType *	operator-> ()
	Ptr operator will return the current node in the octree which the iterator is referring to.
bool	operator== (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack.
Protected Member Functions
void	singleIncrement ()
	One step of depth-first tree traversal.
Protected Attributes
unsigned char	maxDepth
	Maximum depth for depth-limited queries.
OcTreeKey	maxKey
OcTreeKey	minKey
std::stack< StackElement, std::vector< StackElement > >	stack
	Internal recursion stack. Apparently a stack of vector works fastest here.
OcTreeBaseImpl< NodeType, INTERFACE > const *	tree
	Octree this iterator is working on.

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Detailed Description

Bounding-box leaf iterator.

This iterator will traverse all leaf nodes within a given bounding box (axis-aligned). See below for example usage. Note that the non-trivial call to tree->end_leafs_bbx() should be done only once for efficiency!

 for(OcTreeTYPE::leaf_bbx_iterator it = tree->begin_leafs_bbx(min,max),
        end=tree->end_leafs_bbx(); it!= end; ++it)
 {
   //manipulate node, e.g.:
   std::cout << "Node center: " << it.getCoordinate() << std::endl;
   std::cout << "Node size: " << it.getSize() << std::endl;
   std::cout << "Node value: " << it->getValue() << std::endl;
 }

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Constructor & Destructor Documentation

leaf_bbx_iterator::leaf_bbx_iterator

(

)

[inline]

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_leafs_bbx().

leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	tree,
		const point3d &	min,
		const point3d &	max,
		unsigned char	depth = 0
	)		[inline]

Constructor of the iterator.

The bounding box corners min and max are converted into an OcTreeKey first.

Note:

Due to rounding and discretization effects, nodes may be traversed that have float coordinates appearing outside of the (float) bounding box. However, the node's complete volume will include the bounding box coordinate. For a more exact control, use the constructor with OcTreeKeys instead.

Parameters:

tree	OcTreeBaseImpl on which the iterator is used on
min	Minimum point3d of the axis-aligned boundingbox
max	Maximum point3d of the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References iterator_base::maxDepth, maxKey, minKey, operator++(), and iterator_base::stack.

leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	tree,
		const OcTreeKey &	min,
		const OcTreeKey &	max,
		unsigned char	depth = 0
	)		[inline]

Constructor of the iterator.

This version uses the exact keys as axis-aligned bounding box (including min and max).

Parameters:

tree	OcTreeBaseImpl on which the iterator is used on
min	Minimum OcTreeKey to be included in the axis-aligned boundingbox
max	Maximum OcTreeKey to be included in the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References operator++(), and iterator_base::stack.

leaf_bbx_iterator::leaf_bbx_iterator

(

const leaf_bbx_iterator &

other

)

[inline]

References maxKey, and minKey.

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Member Function Documentation

point3d iterator_base::getCoordinate

(

)

const [inline, inherited]

return the center coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

unsigned iterator_base::getDepth

(

)

const [inline, inherited]

return depth of the current node

References iterator_base::stack.

OcTreeKey iterator_base::getIndexKey

(

)

const [inline, inherited]

Returns:

the OcTreeKey of the current node, for nodes with depth != maxDepth

References octomap::computeIndexKey(), iterator_base::stack, and iterator_base::tree.

const OcTreeKey& iterator_base::getKey

(

)

const [inline, inherited]

Returns:

the OcTreeKey of the current node

References iterator_base::stack.

double iterator_base::getSize

(

)

const [inline, inherited]

Returns:

the side if the volume occupied by the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getX

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getY

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getZ

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

bool iterator_base::operator!=

(

const iterator_base &

other

)

const [inline, inherited]

Comparison between iterators. First compares the tree, then stack size and top element of stack.

References iterator_base::stack, and iterator_base::tree.

NodeType& iterator_base::operator*

(

)

[inline, inherited]

Return the current node in the octree which the iterator is referring to.

References iterator_base::stack.

const NodeType& iterator_base::operator*

(

)

const [inline, inherited]

Return the current node in the octree which the iterator is referring to.

References iterator_base::stack.

leaf_bbx_iterator& leaf_bbx_iterator::operator++

(

)

[inline]

prefix increment operator of iterator (++it)

References iterator_base::maxDepth, singleIncrement(), iterator_base::stack, and iterator_base::tree.

Referenced by leaf_bbx_iterator().

leaf_bbx_iterator leaf_bbx_iterator::operator++

(

int

)

[inline]

postfix increment operator of iterator (it++)

NodeType* iterator_base::operator->

(

)

[inline, inherited]

Ptr operator will return the current node in the octree which the iterator is referring to.

References iterator_base::stack.

NodeType const* iterator_base::operator->

(

)

const [inline, inherited]

Ptr operator will return the current node in the octree which the iterator is referring to.

References iterator_base::stack.

bool iterator_base::operator==

(

const iterator_base &

other

)

const [inline, inherited]

Comparison between iterators. First compares the tree, then stack size and top element of stack.

References iterator_base::stack, and iterator_base::tree.

void leaf_bbx_iterator::singleIncrement

(

)

[inline, protected]

One step of depth-first tree traversal.

How this is used depends on the actual iterator.

Reimplemented from iterator_base.

References octomap::computeChildKey(), iterator_base::StackElement::depth, iterator_base::StackElement::key, maxKey, minKey, iterator_base::StackElement::node, iterator_base::stack, and iterator_base::tree.

Referenced by operator++().

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Field Documentation

unsigned char iterator_base::maxDepth [protected, inherited]

Maximum depth for depth-limited queries.

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_leafs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_leafs_bbx(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_tree(), tree_iterator::isLeaf(), iterator_base::iterator_base(), leaf_bbx_iterator(), operator++(), leaf_iterator::operator++(), iterator_base::operator=(), and iterator_base::singleIncrement().

OcTreeKey leaf_bbx_iterator::maxKey [protected]

Referenced by leaf_bbx_iterator(), and singleIncrement().

OcTreeKey leaf_bbx_iterator::minKey [protected]

Referenced by leaf_bbx_iterator(), and singleIncrement().

std::stack<StackElement,std::vector<StackElement> > iterator_base::stack [protected, inherited]

Internal recursion stack. Apparently a stack of vector works fastest here.

Referenced by iterator_base::getCoordinate(), iterator_base::getDepth(), iterator_base::getIndexKey(), iterator_base::getKey(), iterator_base::getSize(), iterator_base::getX(), iterator_base::getY(), iterator_base::getZ(), tree_iterator::isLeaf(), iterator_base::iterator_base(), leaf_bbx_iterator(), leaf_iterator::leaf_iterator(), iterator_base::operator!=(), iterator_base::operator*(), operator++(), leaf_iterator::operator++(), tree_iterator::operator++(), iterator_base::operator->(), iterator_base::operator=(), iterator_base::operator==(), singleIncrement(), and iterator_base::singleIncrement().

OcTreeBaseImpl<NodeType,INTERFACE> const* iterator_base::tree [protected, inherited]

Octree this iterator is working on.

Referenced by iterator_base::getCoordinate(), iterator_base::getIndexKey(), iterator_base::getSize(), iterator_base::getX(), iterator_base::getY(), iterator_base::getZ(), iterator_base::operator!=(), operator++(), leaf_iterator::operator++(), tree_iterator::operator++(), iterator_base::operator=(), iterator_base::operator==(), singleIncrement(), and iterator_base::singleIncrement().

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

• include/octomap/OcTreeIterator.hxx