Interface class for all octree types that store occupancy. More...

Inheritance diagram for octomap::AbstractOccupancyOcTree:

Collaboration diagram for octomap::AbstractOccupancyOcTree:

Public Member Functions
	AbstractOccupancyOcTree ()
virtual void	clear ()=0
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type
virtual void	expand ()=0
double	getClampingThresMax () const
float	getClampingThresMaxLog () const
double	getClampingThresMin () const
float	getClampingThresMinLog () const
virtual void	getMetricMax (double &x, double &y, double &z)=0
virtual void	getMetricMax (double &x, double &y, double &z) const =0
virtual void	getMetricMin (double &x, double &y, double &z) const =0
virtual void	getMetricMin (double &x, double &y, double &z)=0
virtual void	getMetricSize (double &x, double &y, double &z)=0
double	getOccupancyThres () const
float	getOccupancyThresLog () const
double	getProbHit () const
float	getProbHitLog () const
double	getProbMiss () const
float	getProbMissLog () const
virtual double	getResolution () const =0
virtual std::string	getTreeType () const =0
	returns actual class name as string for identification
bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeOccupied (const OcTreeNode *occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
bool	isNodeOccupied (const OcTreeNode &occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
virtual size_t	memoryUsage () const =0
virtual size_t	memoryUsageNode () const =0
virtual void	prune ()=0
bool	readBinary (const std::string &filename)
	Reads OcTree from a binary file.
bool	readBinary (std::istream &s)
	Reads an OcTree from an input stream.
virtual std::istream &	readBinaryData (std::istream &s)=0
	Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
virtual std::istream &	readData (std::istream &s)=0
	Read all nodes from the input stream (without file header), for this the tree needs to be already created.
void	setClampingThresMax (double thresProb)
	sets the maximum threshold for occupancy clamping (sensor model)
void	setClampingThresMin (double thresProb)
	sets the minimum threshold for occupancy clamping (sensor model)
void	setOccupancyThres (double prob)
	sets the threshold for occupancy (sensor model)
void	setProbHit (double prob)
	sets the probablility for a "hit" (will be converted to logodds) - sensor model
void	setProbMiss (double prob)
	sets the probablility for a "miss" (will be converted to logodds) - sensor model
virtual void	setResolution (double res)=0
virtual size_t	size () const =0
virtual void	toMaxLikelihood ()=0
virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement.
virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly.
virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly.
virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement.
bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization)
bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization)
bool	writeBinary (const std::string &filename)
	Writes OcTree to a binary file using writeBinary().
bool	writeBinary (std::ostream &s)
	Writes compressed maximum likelihood OcTree to a binary stream.
bool	writeBinaryConst (std::ostream &s) const
	Writes the maximum likelihood OcTree to a binary stream (const variant).
bool	writeBinaryConst (const std::string &filename) const
	Writes OcTree to a binary file using writeBinaryConst().
virtual std::ostream &	writeBinaryData (std::ostream &s) const =0
	Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
virtual std::ostream &	writeData (std::ostream &s) const =0
	Write complete state of tree to stream (without file header) unmodified.
virtual	~AbstractOccupancyOcTree ()
Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
	Creates a certain OcTree (factory pattern)
static AbstractOcTree *	read (std::istream &s)
	Read the file header, create the appropriate class and deserialize.
static AbstractOcTree *	read (const std::string &filename)
	Read the file header, create the appropriate class and deserialize.
Protected Member Functions
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
	Try to read the old binary format for conversion, will be removed in the future.
Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void	registerTreeType (AbstractOcTree *tree)
Protected Attributes
float	clamping_thres_max
float	clamping_thres_min
float	occ_prob_thres_log
float	prob_hit_log
float	prob_miss_log
Static Protected Attributes
static const std::string	binaryFileHeader = "# Octomap OcTree binary file"
static const std::string	fileHeader = "# Octomap OcTree file"

Detailed Description

Interface class for all octree types that store occupancy.

This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Constructor & Destructor Documentation

octomap::AbstractOccupancyOcTree::AbstractOccupancyOcTree ( )

References setClampingThresMax(), setClampingThresMin(), setOccupancyThres(), setProbHit(), and setProbMiss().

virtual octomap::AbstractOccupancyOcTree::~AbstractOccupancyOcTree ( ) [inline, virtual]

Member Function Documentation

virtual void octomap::AbstractOcTree::clear ( ) [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by readBinary(), and readBinaryLegacyHeader().

virtual AbstractOcTree* octomap::AbstractOcTree::create ( ) const [pure virtual, inherited]

virtual constructor: creates a new object of same type

Implemented in octomap::OcTreeBase< NODE >.

Referenced by octomap::AbstractOcTree::createTree().

AbstractOcTree * octomap::AbstractOcTree::createTree	(	const std::string	id,
		double	res
	)		`[static, inherited]`

Creates a certain OcTree (factory pattern)

Parameters:

id	unique ID of OcTree
res	resolution of OcTree

Returns:: pointer to newly created OcTree (empty). NULL if the ID is unknown!

References octomap::AbstractOcTree::create(), OCTOMAP_ERROR, and octomap::AbstractOcTree::setResolution().

Referenced by octomap::AbstractOcTree::read().

virtual void octomap::AbstractOcTree::expand ( ) [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const [inline]

Returns:: maximum threshold for occupancy clamping in the sensor model (probability)

References clamping_thres_max, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getClampingThresMaxLog ( ) const [inline]

Returns:: maximum threshold for occupancy clamping in the sensor model (logodds)

References clamping_thres_max.

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const [inline]

Returns:: minimum threshold for occupancy clamping in the sensor model (probability)

References clamping_thres_min, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getClampingThresMinLog ( ) const [inline]

Returns:: minimum threshold for occupancy clamping in the sensor model (logodds)

References clamping_thres_min.

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual, inherited]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const `[pure virtual, inherited]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual, inherited]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const `[pure virtual, inherited]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		`[pure virtual, inherited]`

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const [inline]

Returns:: threshold (probability) for occupancy - sensor model

References occ_prob_thres_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const [inline]

Returns:: threshold (logodds) for occupancy - sensor model

References occ_prob_thres_log.

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const [inline]

Returns:: probablility for a "hit" in the sensor model (probability)

References prob_hit_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getProbHitLog ( ) const [inline]

Returns:: probablility for a "hit" in the sensor model (logodds)

References prob_hit_log.

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const [inline]

Returns:: probablility for a "miss" in the sensor model (probability)

References prob_miss_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getProbMissLog ( ) const [inline]

Returns:: probablility for a "miss" in the sensor model (logodds)

References prob_miss_log.

virtual double octomap::AbstractOcTree::getResolution ( ) const [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), octomap::AbstractOcTree::write(), and writeBinaryConst().

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const [pure virtual, inherited]

returns actual class name as string for identification

Implemented in octomap::OcTreeBase< NODE >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), octomap::AbstractOcTree::registerTreeType(), octomap::AbstractOcTree::write(), and writeBinaryConst().

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode * occupancyNode ) const [inline]

queries whether a node is at the clamping threshold according to the tree's parameter

References clamping_thres_max, clamping_thres_min, and octomap::OcTreeNode::getLogOdds().

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode & occupancyNode ) const [inline]

queries whether a node is at the clamping threshold according to the tree's parameter

References clamping_thres_max, clamping_thres_min, and octomap::OcTreeNode::getLogOdds().

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode * occupancyNode ) const [inline]

queries whether a node is occupied according to the tree's parameter for "occupancy"

References octomap::OcTreeNode::getLogOdds(), and occ_prob_thres_log.

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode & occupancyNode ) const [inline]

queries whether a node is occupied according to the tree's parameter for "occupancy"

References octomap::OcTreeNode::getLogOdds(), and occ_prob_thres_log.

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::prune ( ) [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by writeBinary().

AbstractOcTree * octomap::AbstractOcTree::read ( std::istream & s ) [static, inherited]

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself.

References octomap::AbstractOcTree::createTree(), octomap::AbstractOcTree::fileHeader, OCTOMAP_DEBUG_STR, OCTOMAP_ERROR_STR, octomap::AbstractOcTree::readData(), octomap::AbstractOcTree::readHeader(), and octomap::AbstractOcTree::size().

AbstractOcTree * octomap::AbstractOcTree::read ( const std::string & filename ) [static, inherited]

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

 AbstractOcTree* tree = AbstractOcTree::read("filename.ot");
 OcTree* octree = dynamic_cast<OcTree*>(tree);

References OCTOMAP_ERROR_STR.

bool octomap::AbstractOccupancyOcTree::readBinary ( std::istream & s )

Reads an OcTree from an input stream.

Existing nodes of the tree are deleted before the tree is read.

Returns:: success of operation

References binaryFileHeader, octomap::AbstractOcTree::clear(), OCTOMAP_DEBUG_STR, OCTOMAP_ERROR, OCTOMAP_ERROR_STR, OCTOMAP_WARNING_STR, readBinaryData(), readBinaryLegacyHeader(), octomap::AbstractOcTree::readHeader(), octomap::AbstractOcTree::setResolution(), and octomap::AbstractOcTree::size().

Referenced by readBinary().

bool octomap::AbstractOccupancyOcTree::readBinary ( const std::string & filename )

Reads OcTree from a binary file.

Existing nodes of the tree are deleted before the tree is read.

Returns:: success of operation

References OCTOMAP_ERROR_STR, and readBinary().

virtual std::istream& octomap::AbstractOccupancyOcTree::readBinaryData ( std::istream & s ) [pure virtual]

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >.

Referenced by readBinary().

bool octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader	(	std::istream &	s,
		unsigned int &	size,
		double &	res
	)		`[protected]`

Try to read the old binary format for conversion, will be removed in the future.

References octomap::AbstractOcTree::clear(), OCTOMAP_ERROR, OCTOMAP_ERROR_STR, and OCTOMAP_WARNING_STR.

Referenced by readBinary().

virtual std::istream& octomap::AbstractOcTree::readData ( std::istream & s ) [pure virtual, inherited]

Read all nodes from the input stream (without file header), for this the tree needs to be already created.

For general file IO, you should probably use AbstractOcTree::read() instead.

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by octomap::AbstractOcTree::read().

bool octomap::AbstractOcTree::readHeader	(	std::istream &	s,
		std::string &	id,
		unsigned &	size,
		double &	res
	)		`[static, protected, inherited]`

References OCTOMAP_ERROR_STR, OCTOMAP_WARNING, OCTOMAP_WARNING_STR, and octomap::AbstractOcTree::size().

Referenced by octomap::AbstractOcTree::read(), and readBinary().

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree * tree ) [static, protected, inherited]

References octomap::AbstractOcTree::getTreeType().

Referenced by octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), and octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer().

void octomap::AbstractOccupancyOcTree::setClampingThresMax ( double thresProb ) [inline]

sets the maximum threshold for occupancy clamping (sensor model)

References clamping_thres_max, and octomap::logodds().

Referenced by AbstractOccupancyOcTree().

void octomap::AbstractOccupancyOcTree::setClampingThresMin ( double thresProb ) [inline]

sets the minimum threshold for occupancy clamping (sensor model)

References clamping_thres_min, and octomap::logodds().

Referenced by AbstractOccupancyOcTree().

void octomap::AbstractOccupancyOcTree::setOccupancyThres ( double prob ) [inline]

sets the threshold for occupancy (sensor model)

References octomap::logodds(), and occ_prob_thres_log.

Referenced by AbstractOccupancyOcTree().

void octomap::AbstractOccupancyOcTree::setProbHit ( double prob ) [inline]

sets the probablility for a "hit" (will be converted to logodds) - sensor model

References octomap::logodds(), and prob_hit_log.

Referenced by AbstractOccupancyOcTree().

void octomap::AbstractOccupancyOcTree::setProbMiss ( double prob ) [inline]

sets the probablility for a "miss" (will be converted to logodds) - sensor model

References octomap::logodds(), and prob_miss_log.

Referenced by AbstractOccupancyOcTree().

virtual void octomap::AbstractOcTree::setResolution ( double res ) [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by octomap::AbstractOcTree::createTree(), and readBinary().

virtual size_t octomap::AbstractOcTree::size ( ) const [pure virtual, inherited]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by main(), octomap::AbstractOcTree::read(), readBinary(), octomap::AbstractOcTree::readHeader(), octomap::AbstractOcTree::write(), and writeBinaryConst().

virtual void octomap::AbstractOccupancyOcTree::toMaxLikelihood ( ) [pure virtual]

Implemented in octomap::OccupancyOcTreeBase< NODE >.

Referenced by writeBinary().

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Integrate occupancy measurement.

Parameters:

key	of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Manipulate log_odds value of voxel directly.

Parameters:

key	of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Integrate occupancy measurement.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

value	3d coordinate of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Manipulate log_odds value of voxel directly.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

value	3d coordinate of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

bool octomap::AbstractOcTree::write ( std::ostream & s ) const [inherited]

Write file header and complete tree to stream (serialization)

References octomap::AbstractOcTree::fileHeader, octomap::AbstractOcTree::getResolution(), octomap::AbstractOcTree::getTreeType(), octomap::AbstractOcTree::size(), and octomap::AbstractOcTree::writeData().

bool octomap::AbstractOcTree::write ( const std::string & filename ) const [inherited]

Write file header and complete tree to file (serialization)

References OCTOMAP_ERROR_STR.

Referenced by main().

bool octomap::AbstractOccupancyOcTree::writeBinary ( std::ostream & s )

Writes compressed maximum likelihood OcTree to a binary stream.

The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns:: success of operation

References octomap::AbstractOcTree::prune(), toMaxLikelihood(), and writeBinaryConst().

bool octomap::AbstractOccupancyOcTree::writeBinary ( const std::string & filename )

Writes OcTree to a binary file using writeBinary().

The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns:: success of operation

References OCTOMAP_ERROR_STR.

Referenced by main().

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( std::ostream & s ) const

Writes the maximum likelihood OcTree to a binary stream (const variant).

Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns:: success of operation

References binaryFileHeader, octomap::AbstractOcTree::getResolution(), octomap::AbstractOcTree::getTreeType(), OCTOMAP_DEBUG, OCTOMAP_WARNING_STR, octomap::AbstractOcTree::size(), and writeBinaryData().

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( const std::string & filename ) const

Writes OcTree to a binary file using writeBinaryConst().

The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns:: success of operation

References OCTOMAP_ERROR_STR.

Referenced by writeBinary().

virtual std::ostream& octomap::AbstractOccupancyOcTree::writeBinaryData ( std::ostream & s ) const [pure virtual]

Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >.

Referenced by writeBinaryConst().

virtual std::ostream& octomap::AbstractOcTree::writeData ( std::ostream & s ) const [pure virtual, inherited]

Write complete state of tree to stream (without file header) unmodified.

Pruning the tree first produces smaller files (lossless compression)

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Referenced by octomap::AbstractOcTree::write().

Field Documentation

const std::string octomap::AbstractOccupancyOcTree::binaryFileHeader = "# Octomap OcTree binary file" [static, protected]

Referenced by readBinary(), and writeBinaryConst().

float octomap::AbstractOccupancyOcTree::clamping_thres_max [protected]

Referenced by getClampingThresMax(), getClampingThresMaxLog(), isNodeAtThreshold(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setClampingThresMax().

float octomap::AbstractOccupancyOcTree::clamping_thres_min [protected]

Referenced by getClampingThresMin(), getClampingThresMinLog(), isNodeAtThreshold(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setClampingThresMin().

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file" [static, protected, inherited]

Referenced by octomap::AbstractOcTree::read(), and octomap::AbstractOcTree::write().

float octomap::AbstractOccupancyOcTree::occ_prob_thres_log [protected]

Referenced by getOccupancyThres(), getOccupancyThresLog(), isNodeOccupied(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setOccupancyThres().

float octomap::AbstractOccupancyOcTree::prob_hit_log [protected]

Referenced by getProbHit(), getProbHitLog(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setProbHit().

float octomap::AbstractOccupancyOcTree::prob_miss_log [protected]

Referenced by getProbMiss(), getProbMissLog(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setProbMiss().

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

include/octomap/AbstractOccupancyOcTree.h
src/AbstractOccupancyOcTree.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation