Inheritance diagram for octomap::ColorOcTreeNode:

Collaboration diagram for octomap::ColorOcTreeNode:

Data Structures
class	Color
Public Types
typedef float	DataType
	Make the templated data type available from the outside.
Public Member Functions
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!)
bool	childExists (unsigned int i) const
bool	collapsible () const
	A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
	ColorOcTreeNode (const ColorOcTreeNode &rhs)
	ColorOcTreeNode ()
bool	createChild (unsigned int i)
	initialize i-th child, allocate children array if needed
void	deleteChild (unsigned int i)
	Deletes the i-th child of the node.
void	expandNode ()
	Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.
ColorOcTreeNode::Color	getAverageChildColor () const
ColorOcTreeNode *	getChild (unsigned int i)
const ColorOcTreeNode *	getChild (unsigned int i) const
Color	getColor () const
Color &	getColor ()
float	getLogOdds () const
float	getMaxChildLogOdds () const
double	getMeanChildLogOdds () const
double	getOccupancy () const
float	getValue () const
bool	hasChildren () const
bool	isColorSet () const
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical.
bool	operator== (const ColorOcTreeNode &rhs) const
bool	pruneNode ()
	Prunes a node when it is collapsible.
std::istream &	readValue (std::istream &s)
	Read node from binary stream (incl.
void	setColor (Color c)
void	setColor (unsigned char r, unsigned char g, unsigned char b)
void	setLogOdds (float l)
	sets log odds occupancy of node
void	setValue (floatv)
	sets value to be stored in the node
void	updateColorChildren ()
void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy
std::ostream &	writeValue (std::ostream &s) const
	Write node to binary stream (incl float value), recursively continue with all children.
Protected Member Functions
void	allocChildren ()
Protected Attributes
OcTreeDataNode< float > **	children
	pointer to array of children, may be NULL
Color	color
float	value
	stored data (payload)

Member Typedef Documentation

typedef float octomap::OcTreeDataNode< float >::DataType [inherited]

Make the templated data type available from the outside.

Constructor & Destructor Documentation

octomap::ColorOcTreeNode::ColorOcTreeNode ( ) [inline]

Referenced by createChild().

octomap::ColorOcTreeNode::ColorOcTreeNode ( const ColorOcTreeNode & rhs ) [inline]

Member Function Documentation

void octomap::OcTreeNode::addValue ( const float & p ) [inherited]

adds p to the node's logOdds value (with no boundary / threshold checking!)

References octomap::OcTreeDataNode< float >::value.

void octomap::OcTreeDataNode< float >::allocChildren ( ) [protected, inherited]

Referenced by octomap::OcTreeNode::createChild(), octomap::OcTreeNodeStamped::createChild(), and createChild().

bool octomap::OcTreeDataNode< float >::childExists ( unsigned int i ) const [inherited]

Returns:: true if the i-th child exists

Referenced by getAverageChildColor(), octomap::OcTreeNode::getMaxChildLogOdds(), octomap::OcTreeNode::getMeanChildLogOdds(), and writeValue().

bool octomap::OcTreeDataNode< float >::collapsible ( ) const [inherited]

A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.

Referenced by pruneNode().

bool octomap::ColorOcTreeNode::createChild ( unsigned int i ) [inline]

initialize i-th child, allocate children array if needed

Reimplemented from octomap::OcTreeNode.

References octomap::OcTreeDataNode< float >::allocChildren(), octomap::OcTreeDataNode< float >::children, and ColorOcTreeNode().

Referenced by expandNode(), and readValue().

void octomap::OcTreeDataNode< float >::deleteChild ( unsigned int i ) [inherited]

Deletes the i-th child of the node.

void octomap::ColorOcTreeNode::expandNode ( )

Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.

You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)

Reimplemented from octomap::OcTreeDataNode< float >.

References octomap::OcTreeDataNode< float >::children, color, createChild(), getChild(), octomap::OcTreeDataNode< float >::hasChildren(), setColor(), octomap::OcTreeDataNode< T >::setValue(), and octomap::OcTreeDataNode< float >::value.

ColorOcTreeNode::Color octomap::ColorOcTreeNode::getAverageChildColor ( ) const

References octomap::ColorOcTreeNode::Color::b, octomap::OcTreeDataNode< float >::childExists(), octomap::ColorOcTreeNode::Color::g, getChild(), getColor(), isColorSet(), and octomap::ColorOcTreeNode::Color::r.

Referenced by pruneNode(), and updateColorChildren().

ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int i ) [inline]

Returns:: a pointer to the i-th child of the node. The child needs to exist.

Reimplemented from octomap::OcTreeNode.

Referenced by expandNode(), getAverageChildColor(), getChild(), pruneNode(), readValue(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and writeValue().

const ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int i ) const [inline]

Returns:: a const pointer to the i-th child of the node. The child needs to exist.

Reimplemented from octomap::OcTreeNode.

References getChild().

Color& octomap::ColorOcTreeNode::getColor ( ) [inline]

References color.

Color octomap::ColorOcTreeNode::getColor ( ) const [inline]

References color.

Referenced by octomap::ColorOcTree::averageNodeColor(), getAverageChildColor(), octomap::ColorOcTree::integrateNodeColor(), main(), and print_query_info().

float octomap::OcTreeNode::getLogOdds ( ) const [inline, inherited]

Returns:: log odds representation of occupancy probability of node

References octomap::OcTreeDataNode< float >::value.

Referenced by octomap::OcTreeNode::getMaxChildLogOdds(), octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), main(), and pruneNode().

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const [inherited]

Returns:: maximum of children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::childExists(), octomap::OcTreeNode::getChild(), and octomap::OcTreeNode::getLogOdds().

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and octomap::OcTreeNode::updateOccupancyChildren().

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const [inherited]

Returns:: mean of all children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::childExists(), octomap::OcTreeNode::getChild(), and octomap::OcTreeNode::getOccupancy().

double octomap::OcTreeNode::getOccupancy ( ) const [inline, inherited]

Returns:: occupancy probability of node

References octomap::probability(), and octomap::OcTreeDataNode< float >::value.

Referenced by octomap::OcTreeNode::getMeanChildLogOdds(), octomap::ColorOcTree::integrateNodeColor(), and print_query_info().

float octomap::OcTreeDataNode< float >::getValue ( ) const [inline, inherited]

Returns:: value stored in the node

bool octomap::OcTreeDataNode< float >::hasChildren ( ) const [inherited]

Returns:: true if the node has at least one child

Referenced by expandNode().

bool octomap::ColorOcTreeNode::isColorSet ( ) const [inline]

References octomap::ColorOcTreeNode::Color::b, color, octomap::ColorOcTreeNode::Color::g, and octomap::ColorOcTreeNode::Color::r.

Referenced by octomap::ColorOcTree::averageNodeColor(), getAverageChildColor(), octomap::ColorOcTree::integrateNodeColor(), and pruneNode().

bool octomap::ColorOcTreeNode::operator== ( const ColorOcTreeNode & rhs ) const [inline]

References color, octomap::OcTreeDataNode< float >::value, and octomap::OcTreeDataNode< T >::value.

bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > & rhs ) const [inherited]

Equals operator, compares if the stored value is identical.

bool octomap::ColorOcTreeNode::pruneNode ( )

Prunes a node when it is collapsible.

Returns:: true if pruning was successful

Reimplemented from octomap::OcTreeDataNode< float >.

References octomap::OcTreeDataNode< float >::children, octomap::OcTreeDataNode< float >::collapsible(), color, getAverageChildColor(), getChild(), octomap::OcTreeNode::getLogOdds(), isColorSet(), and octomap::OcTreeNode::setLogOdds().

std::istream & octomap::ColorOcTreeNode::readValue ( std::istream & s )

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters:

s

Returns:

Reimplemented from octomap::OcTreeDataNode< float >.

References octomap::OcTreeDataNode< float >::children, color, createChild(), getChild(), readValue(), and octomap::OcTreeDataNode< float >::value.

Referenced by readValue().

void octomap::ColorOcTreeNode::setColor ( Color c ) [inline]

References color.

Referenced by octomap::ColorOcTree::averageNodeColor(), expandNode(), octomap::ColorOcTree::integrateNodeColor(), main(), and octomap::ColorOcTree::setNodeColor().

void octomap::ColorOcTreeNode::setColor	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b
	)		`[inline]`

References color.

void octomap::OcTreeNode::setLogOdds ( float l ) [inline, inherited]

sets log odds occupancy of node

References octomap::OcTreeDataNode< float >::value.

Referenced by pruneNode(), octomap::OcTreeNodeStamped::updateOccupancyChildren(), and octomap::OcTreeNode::updateOccupancyChildren().

void octomap::OcTreeDataNode< float >::setValue ( float v ) [inline, inherited]

sets value to be stored in the node

void octomap::ColorOcTreeNode::updateColorChildren ( )

References color, and getAverageChildColor().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

void octomap::OcTreeNode::updateOccupancyChildren ( ) [inline, inherited]

update this node's occupancy according to its children's maximum occupancy

Reimplemented in octomap::OcTreeNodeStamped.

References octomap::OcTreeNode::getMaxChildLogOdds(), and octomap::OcTreeNode::setLogOdds().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

std::ostream & octomap::ColorOcTreeNode::writeValue ( std::ostream & s ) const

Write node to binary stream (incl float value), recursively continue with all children.

This preserves the complete state of the node.

Parameters:

s

Returns:

Reimplemented from octomap::OcTreeDataNode< float >.

References octomap::OcTreeDataNode< float >::childExists(), octomap::OcTreeDataNode< float >::children, color, getChild(), octomap::OcTreeDataNode< float >::value, and writeValue().

Referenced by writeValue().

Field Documentation

OcTreeDataNode<float >** octomap::OcTreeDataNode< float >::children [protected, inherited]

pointer to array of children, may be NULL

Referenced by octomap::OcTreeNode::createChild(), octomap::OcTreeNodeStamped::createChild(), createChild(), expandNode(), pruneNode(), readValue(), and writeValue().

Color octomap::ColorOcTreeNode::color [protected]

Referenced by expandNode(), getColor(), isColorSet(), operator==(), pruneNode(), readValue(), setColor(), updateColorChildren(), and writeValue().

float octomap::OcTreeDataNode< float >::value [protected, inherited]

stored data (payload)

Referenced by octomap::OcTreeNode::addValue(), expandNode(), octomap::OcTreeNode::getLogOdds(), octomap::OcTreeNode::getOccupancy(), octomap::OcTreeNodeStamped::operator==(), operator==(), readValue(), octomap::OcTreeNode::setLogOdds(), and writeValue().

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

include/octomap/ColorOcTree.h
src/ColorOcTree.cpp

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation