An AbstractOcTree which stores an internal counter per node / volume. More...

Inheritance diagram for octomap::CountingOcTree:

Collaboration diagram for octomap::CountingOcTree:

Data Structures
class	StaticMemberInitializer
	Static member object which ensures that this OcTree's prototype ends up in the classIDMapping only once. More...
Public Types
typedef leaf_iterator	iterator
typedef NODE	NodeType
	Make the templated NODE type available from the outside.
Public Member Functions
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const
	Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
unsigned short int	adjustKeyAtDepth (unsigned short int key, unsigned int depth) const
	Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)
iterator	begin (unsigned char maxDepth=0) const
leaf_iterator	begin_leafs (unsigned char maxDepth=0) const
leaf_bbx_iterator	begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const
leaf_bbx_iterator	begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const
tree_iterator	begin_tree (unsigned char maxDepth=0) const
size_t	calcNumNodes () const
	Traverses the tree to calculate the total number of nodes.
void	clear ()
	Deletes the complete tree structure (only the root node will remain)
bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)
	Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.
bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const
	Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.
OcTreeKey	coordToKey (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key.
unsigned short int	coordToKey (double coordinate) const
	Converts from a single coordinate into a discrete key.
OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth.
unsigned short int	coordToKey (double coordinate, unsigned depth) const
	Converts from a single coordinate into a discrete key at a given depth.
bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
bool	coordToKeyChecked (double coordinate, unsigned short int &key) const
	Converts a single coordinate into a discrete addressing key, with boundary checking.
bool	coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const
	Converts a single coordinate into a discrete addressing key, with boundary checking.
	CountingOcTree (double resolution)
	Default constructor, sets resolution of leafs.
OcTreeBase< CountingOcTreeNode > *	create () const
	virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
OcTreeBaseImpl	deepCopy () const
bool	deleteNode (const point3d &value, unsigned int depth=0)
	Delete a node (if exists) given a 3d point.
bool	deleteNode (float x, float y, float z, unsigned int depth=0)
	Delete a node (if exists) given a 3d point.
bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)
	Delete a node (if exists) given an addressing key.
	DEPRECATED (bool genKey(const point3d &point, OcTreeKey &key) const )
	DEPRECATED (bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const )
	DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth) const)
	DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord) const)
	DEPRECATED (double genCoordFromKey(const unsigned short int &key, unsigned depth) const)
	DEPRECATED (bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const )
	DEPRECATED (inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const)
	DEPRECATED (bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const )
	DEPRECATED (inline double genCoordFromKey(const unsigned short int &key) const)
	DEPRECATED (inline void genPos(const OcTreeKey &key, int depth, unsigned int &pos) const)
	generate child index (between 0 and 7) from key at given tree depth DEPRECATED
	DEPRECATED (bool genKeyValue(double coordinate, unsigned short int &keyval) const)
const iterator	end () const
const leaf_iterator	end_leafs () const
const leaf_bbx_iterator	end_leafs_bbx () const
const tree_iterator	end_tree () const
virtual void	expand ()
	Expands all pruned nodes (reverse of prune())
void	getCentersMinHits (point3d_list &node_centers, unsigned int min_hits) const
void	getMetricMax (double &x, double &y, double &z) const
	maximum value of the bounding box of all known space in x, y, z
virtual void	getMetricMax (double &x, double &y, double &z)
	maximum value of the bounding box of all known space in x, y, z
virtual void	getMetricMin (double &x, double &y, double &z)
	minimum value of the bounding box of all known space in x, y, z
void	getMetricMin (double &x, double &y, double &z) const
	minimum value of the bounding box of all known space in x, y, z
virtual void	getMetricSize (double &x, double &y, double &z)
	Size of OcTree (all known space) in meters for x, y and z dimension.
double	getNodeSize (unsigned depth) const
size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes.
double	getResolution () const
NODE *	getRoot () const
unsigned int	getTreeDepth () const
std::string	getTreeType () const
void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax) const
	return centers of leafs that do NOT exist (but could) in a given bounding box
point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const
	converts from an addressing key at a given depth into a coordinate corresponding to the key's center
point3d	keyToCoord (const OcTreeKey &key) const
	converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
double	keyToCoord (unsigned short int key, unsigned depth) const
	converts from a discrete key at a given depth into a coordinate corresponding to the key's center
double	keyToCoord (unsigned short int key) const
	converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
size_t	memoryFullGrid ()
virtual size_t	memoryUsage () const
virtual size_t	memoryUsageNode () const
bool	operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const
virtual void	prune ()
	Lossless compression of OcTree: merge children to parent when there are eight children with identical values.
std::istream &	readData (std::istream &s)
	Read all nodes from the input stream (without file header), for this the tree needs to be already created.
NODE *	search (const point3d &value, unsigned int depth=0) const
	Search node at specified depth given a 3d point (depth=0: search full tree depth)
NODE *	search (float x, float y, float z, unsigned int depth=0) const
	Search node at specified depth given a 3d point (depth=0: search full tree depth)
NODE *	search (const OcTreeKey &key, unsigned int depth=0) const
	Search a node at specified depth given an addressing key (depth=0: search full tree depth)
void	setResolution (double r)
	Change the resolution of the octree, scaling all voxels.
virtual size_t	size () const
CountingOcTreeNode *	updateNode (const OcTreeKey &k)
virtual CountingOcTreeNode *	updateNode (const point3d &value)
	implementation of CountingOcTree --------------------------------------
double	volume ()
std::ostream &	writeData (std::ostream &s) const
	Write complete state of tree to stream (without file header) unmodified.
Protected Member Functions
void	calcMinMax ()
	recalculates min and max in x, y, z. Does nothing when tree size didn't change.
void	calcNumNodesRecurs (NODE *node, size_t &num_nodes) const
bool	deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
	recursive call of deleteNode()
void	expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth)
	recursive call of expand()
void	getCentersMinHitsRecurs (point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const
size_t	getNumLeafNodesRecurs (const NODE *parent) const
void	pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune()
Protected Attributes
KeyRay	keyray
const leaf_bbx_iterator	leaf_iterator_bbx_end
const leaf_iterator	leaf_iterator_end
double	max_value [3]
	max in x, y, z
double	min_value [3]
	min in x, y, z
double	resolution
	in meters
double	resolution_factor
	= 1. / resolution
NODE *	root
bool	size_changed
	flag to denote whether the octree extent changed (for lazy min/max eval)
std::vector< double >	sizeLookupTable
	contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
point3d	tree_center
const unsigned int	tree_depth
	Maximum tree depth is fixed to 16 currently.
const tree_iterator	tree_iterator_end
const unsigned int	tree_max_val
size_t	tree_size
	number of nodes in tree
Static Protected Attributes
static StaticMemberInitializer	countingOcTreeMemberInit
	static member to ensure static initialization (only once)

Detailed Description

An AbstractOcTree which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

Note:: In our mapping system this data structure is used in the sensor model only. Do not use, e.g., insertScan.

Member Typedef Documentation

template<class NODE, class INTERFACE>

typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator [inherited]

template<class NODE, class INTERFACE>

typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType [inherited]

Make the templated NODE type available from the outside.

Constructor & Destructor Documentation

octomap::CountingOcTree::CountingOcTree ( double resolution ) [inline]

Default constructor, sets resolution of leafs.

Referenced by octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer().

Member Function Documentation

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth	(	const OcTreeKey &	key,
		unsigned int	depth
	)		const `[inline, inherited]`

Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)

Parameters:

key	Input key, at the lowest tree level
depth	Target depth level for the new key

Returns:: Key for the new depth level

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

template<class NODE , class I >

unsigned short int octomap::OcTreeBaseImpl< NODE, I >::adjustKeyAtDepth	(	unsigned short int	key,
		unsigned int	depth
	)		const `[inherited]`

Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)

Parameters:

key	Input key, at the lowest tree level
depth	Target depth level for the new key

Returns:: Key for the new depth level

template<class NODE, class INTERFACE>

iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin ( unsigned char maxDepth = 0 ) const [inline, inherited]

Returns:: beginning of the tree as leaf iterator

Referenced by main().

template<class NODE, class INTERFACE>

leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs ( unsigned char maxDepth = 0 ) const [inline, inherited]

Returns:: beginning of the tree as leaf iterator

Referenced by octomap::OcTreeStamped::degradeOutdatedNodes(), and main().

template<class NODE, class INTERFACE>

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx	(	const OcTreeKey &	min,
		const OcTreeKey &	max,
		unsigned char	maxDepth = `0`
	)		const `[inline, inherited]`

Returns:: beginning of the tree as leaf iterator in a bounding box

template<class NODE, class INTERFACE>

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx	(	const point3d &	min,
		const point3d &	max,
		unsigned char	maxDepth = `0`
	)		const `[inline, inherited]`

Returns:: beginning of the tree as leaf iterator in a bounding box

template<class NODE, class INTERFACE>

tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_tree ( unsigned char maxDepth = 0 ) const [inline, inherited]

Returns:: beginning of the tree as iterator to all nodes (incl. inner)

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::calcMinMax ( ) [protected, inherited]

recalculates min and max in x, y, z. Does nothing when tree size didn't change.

template<class NODE , class I >

size_t octomap::OcTreeBaseImpl< NODE, I >::calcNumNodes ( ) const [inherited]

Traverses the tree to calculate the total number of nodes.

Referenced by main(), and octomap::OccupancyOcTreeBase< NODE >::readBinaryData().

template<class NODE, class I >

void octomap::OcTreeBaseImpl< NODE, I >::calcNumNodesRecurs	(	NODE *	node,
		size_t &	num_nodes
	)		const `[protected, inherited]`

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::clear ( ) [inherited]

Deletes the complete tree structure (only the root node will remain)

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::computeRay	(	const point3d &	origin,
		const point3d &	end,
		std::vector< point3d > &	ray
	)		`[inherited]`

Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.

You still need to check if a node at that coordinate exists (e.g. with search()).

Note:: : use the faster computeRayKeys method if possible.

Parameters:

origin	start coordinate of ray
end	end coordinate of ray
ray	KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"

Returns:: Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::computeRayKeys	(	const point3d &	origin,
		const point3d &	end,
		KeyRay &	ray
	)		const `[inherited]`

Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.

You still need to check if a node at that coordinate exists (e.g. with search()).

Parameters:

origin	start coordinate of ray
end	end coordinate of ray
ray	KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"

Returns:: Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range

Reimplemented in octomap::OcTreeBaseSE< NODE >.

References octomap::KeyRay::addKey(), octomath::Vector3::norm(), OCTOMAP_WARNING_STR, octomap::KeyRay::reset(), octomap::KeyRay::size(), and octomap::KeyRay::sizeMax().

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( const point3d & coord ) const [inline, inherited]

Converts from a 3D coordinate into a 3D addressing key.

template<class NODE, class INTERFACE>

unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double coordinate ) const [inline, inherited]

Converts from a single coordinate into a discrete key.

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

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey	(	const point3d &	coord,
		unsigned	depth
	)		const `[inline, inherited]`

Converts from a 3D coordinate into a 3D addressing key at a given depth.

template<class NODE , class I >

unsigned short int octomap::OcTreeBaseImpl< NODE, I >::coordToKey	(	double	coordinate,
		unsigned	depth
	)		const `[inline, inherited]`

Converts from a single coordinate into a discrete key at a given depth.

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	const point3d &	coord,
		OcTreeKey &	key
	)		const `[inherited]`

Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.

Parameters:

coord	3d coordinate of a point
key	values that will be computed, an array of fixed size 3.

Returns:: true if point is within the octree (valid), false otherwise

Referenced by octomap::ColorOcTree::averageNodeColor(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::DEPRECATED(), octomap::ColorOcTree::integrateNodeColor(), main(), octomap::ColorOcTree::setNodeColor(), and updateNode().

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	const point3d &	coord,
		unsigned	depth,
		OcTreeKey &	key
	)		const `[inherited]`

Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.

Parameters:

coord	3d coordinate of a point
depth	level of the key from the top
key	values that will be computed, an array of fixed size 3.

Returns:: true if point is within the octree (valid), false otherwise

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	coordinate,
		unsigned short int &	key
	)		const `[inherited]`

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters:

coordinate	3d coordinate of a point
key	discrete 16 bit adressing key, result

Returns:: true if coordinate is within the octree bounds (valid), false otherwise

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	coordinate,
		unsigned	depth,
		unsigned short int &	key
	)		const `[inherited]`

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters:

coordinate	3d coordinate of a point
depth	level of the key from the top
key	discrete 16 bit adressing key, result

Returns:: true if coordinate is within the octree bounds (valid), false otherwise

OcTreeBase<CountingOcTreeNode >* octomap::OcTreeBase< CountingOcTreeNode >::create ( ) const [inline, inherited]

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

References octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::resolution.

template<class NODE, class INTERFACE>

OcTreeBaseImpl octomap::OcTreeBaseImpl< NODE, INTERFACE >::deepCopy ( ) const [inherited]

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	float	x,
		float	y,
		float	z,
		unsigned int	depth = `0`
	)		`[inherited]`

Delete a node (if exists) given a 3d point.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	const point3d &	value,
		unsigned int	depth = `0`
	)		`[inherited]`

Delete a node (if exists) given a 3d point.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

References OCTOMAP_ERROR_STR.

template<class NODE , class I >

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	const OcTreeKey &	key,
		unsigned int	depth = `0`
	)		`[inherited]`

Delete a node (if exists) given an addressing key.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

template<class NODE, class I >

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNodeRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		const OcTreeKey &	key
	)		`[protected, inherited]`

recursive call of deleteNode()

References octomap::computeChildIdx().

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKey(const point3d &point, OcTreeKey &key) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const ) [inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const ) [inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline bool genCoordFromKey(const unsigned short int &key, float &coord) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( double genCoordFromKey(const unsigned short int &key, unsigned depth) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const ) [inline, inherited]

Will always return true, there is no more boundary check here

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline void genPos(const OcTreeKey &key, int depth, unsigned int &pos) const ) [inline, inherited]

generate child index (between 0 and 7) from key at given tree depth DEPRECATED

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline double genCoordFromKey(const unsigned short int &key) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const ) [inline, inherited]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKeyValue(double coordinate, unsigned short int &keyval) const ) [inline, inherited]

template<class NODE, class INTERFACE>

const iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end ( ) const [inline, inherited]

Returns:: end of the tree as leaf iterator

Referenced by octomap::OcTreeStamped::degradeOutdatedNodes(), main(), and octomap::ColorOcTree::writeColorHistogram().

template<class NODE, class INTERFACE>

const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs ( ) const [inline, inherited]

Returns:: end of the tree as leaf iterator

Referenced by octomap::OcTreeStamped::degradeOutdatedNodes(), and main().

template<class NODE, class INTERFACE>

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx ( ) const [inline, inherited]

Returns:: end of the tree as leaf iterator in a bounding box

template<class NODE, class INTERFACE>

const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree ( ) const [inline, inherited]

Returns:: end of the tree as iterator to all nodes (incl. inner)

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::expand ( ) [virtual, inherited]

Expands all pruned nodes (reverse of prune())

Note:: This is an expensive operation, especially when the tree is nearly empty!

Referenced by main(), and printChanges().

template<class NODE, class I >

void octomap::OcTreeBaseImpl< NODE, I >::expandRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth
	)		`[protected, inherited]`

recursive call of expand()

void octomap::CountingOcTree::getCentersMinHits	(	point3d_list &	node_centers,
		unsigned int	min_hits
	)		const

References getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.

void octomap::CountingOcTree::getCentersMinHitsRecurs	(	point3d_list &	node_centers,
		unsigned int &	min_hits,
		unsigned int	max_depth,
		CountingOcTreeNode *	node,
		unsigned int	depth,
		const OcTreeKey &	parent_key
	)		const `[protected]`

References octomap::OcTreeDataNode< T >::childExists(), octomap::computeChildKey(), octomap::CountingOcTreeNode::getChild(), octomap::CountingOcTreeNode::getCount(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.

Referenced by getCentersMinHits().

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		`[virtual, inherited]`

maximum value of the bounding box of all known space in x, y, z

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const `[inherited]`

maximum value of the bounding box of all known space in x, y, z

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		`[virtual, inherited]`

minimum value of the bounding box of all known space in x, y, z

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const `[inherited]`

minimum value of the bounding box of all known space in x, y, z

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		`[virtual, inherited]`

Size of OcTree (all known space) in meters for x, y and z dimension.

Referenced by main().

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize ( unsigned depth ) const [inline, inherited]

template<class NODE , class I >

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodes ( ) const [inherited]

Traverses the tree to calculate the total number of leaf nodes.

Referenced by main().

template<class NODE, class I >

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodesRecurs ( const NODE * parent ) const [protected, inherited]

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getResolution ( ) const [inline, inherited]

Referenced by getLeafNodesRecurs(), and main().

template<class NODE, class INTERFACE>

NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot ( ) const [inline, inherited]

Returns:: Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself.

Referenced by main().

template<class NODE, class INTERFACE>

unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth ( ) const [inline, inherited]

std::string octomap::OcTreeBase< CountingOcTreeNode >::getTreeType ( ) const [inline, inherited]

returns actual class name as string for identification

Reimplemented from octomap::OcTreeBaseImpl< NODE, INTERFACE >.

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::getUnknownLeafCenters	(	point3d_list &	node_centers,
		point3d	pmin,
		point3d	pmax
	)		const `[inherited]`

return centers of leafs that do NOT exist (but could) in a given bounding box

References octomath::Vector3::x(), octomath::Vector3::y(), and octomath::Vector3::z().

template<class NODE, class INTERFACE>

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord	(	const OcTreeKey &	key,
		unsigned	depth
	)		const `[inline, inherited]`

converts from an addressing key at a given depth into a coordinate corresponding to the key's center

template<class NODE , class I >

double octomap::OcTreeBaseImpl< NODE, I >::keyToCoord	(	unsigned short int	key,
		unsigned	depth
	)		const `[inherited]`

converts from a discrete key at a given depth into a coordinate corresponding to the key's center

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::DEPRECATED(), getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::keyToCoord(), and main().

template<class NODE, class INTERFACE>

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( const OcTreeKey & key ) const [inline, inherited]

converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( unsigned short int key ) const [inline, inherited]

converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center

template<class NODE , class I >

size_t octomap::OcTreeBaseImpl< NODE, I >::memoryFullGrid ( ) [inherited]

Returns:: Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)

Referenced by main().

template<class NODE , class I >

size_t octomap::OcTreeBaseImpl< NODE, I >::memoryUsage ( ) const [virtual, inherited]

Returns:: Memory usage of the complete octree in bytes (may vary between architectures)

Referenced by main().

template<class NODE, class INTERFACE>

virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsageNode ( ) const [inline, virtual, inherited]

Returns:: Memory usage of the a single octree node

template<class NODE, class I>

bool octomap::OcTreeBaseImpl< NODE, I >::operator== ( const OcTreeBaseImpl< NODE, I > & rhs ) const [inherited]

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_tree(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution, octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::prune ( ) [virtual, inherited]

Lossless compression of OcTree: merge children to parent when there are eight children with identical values.

Referenced by main(), and printChanges().

template<class NODE, class I >

void octomap::OcTreeBaseImpl< NODE, I >::pruneRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		unsigned int &	num_pruned
	)		`[protected, inherited]`

recursive call of prune()

template<class NODE , class I >

std::istream & octomap::OcTreeBaseImpl< NODE, I >::readData ( std::istream & s ) [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.

References OCTOMAP_ERROR_STR, and OCTOMAP_WARNING_STR.

Referenced by main().

template<class NODE , class I >

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	const OcTreeKey &	key,
		unsigned int	depth = `0`
	)		const `[inherited]`

Search a node at specified depth given an addressing key (depth=0: search full tree depth)

Returns:: pointer to node if found, NULL otherwise

References octomap::computeChildIdx().

template<class NODE , class I >

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	const point3d &	value,
		unsigned int	depth = `0`
	)		const `[inherited]`

Search node at specified depth given a 3d point (depth=0: search full tree depth)

Returns:: pointer to node if found, NULL otherwise

References OCTOMAP_ERROR_STR.

template<class NODE , class I >

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	float	x,
		float	y,
		float	z,
		unsigned int	depth = `0`
	)		const `[inherited]`

Search node at specified depth given a 3d point (depth=0: search full tree depth)

Returns:: pointer to node if found, NULL otherwise

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

template<class NODE , class I >

void octomap::OcTreeBaseImpl< NODE, I >::setResolution ( double r ) [inherited]

Change the resolution of the octree, scaling all voxels.

This will not preserve the (metric) scale!

Referenced by main(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().

template<class NODE, class INTERFACE>

virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::size ( ) const [inline, virtual, inherited]

Returns:: The number of nodes in the tree

Referenced by main().

CountingOcTreeNode * octomap::CountingOcTree::updateNode ( const OcTreeKey & k )

References octomap::OcTreeDataNode< T >::childExists(), octomap::computeChildIdx(), octomap::CountingOcTreeNode::createChild(), octomap::CountingOcTreeNode::getChild(), octomap::CountingOcTreeNode::increaseCount(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

CountingOcTreeNode * octomap::CountingOcTree::updateNode ( const point3d & value ) [virtual]

implementation of CountingOcTree --------------------------------------

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked().

template<class NODE , class I >

double octomap::OcTreeBaseImpl< NODE, I >::volume ( ) [inherited]

template<class NODE , class I >

std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeData ( std::ostream & s ) const [inherited]

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

Pruning the tree first produces smaller files (lossless compression)

Field Documentation

CountingOcTree::StaticMemberInitializer octomap::CountingOcTree::countingOcTreeMemberInit [static, protected]

static member to ensure static initialization (only once)

template<class NODE, class INTERFACE>

KeyRay octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyray [protected, inherited]

Reimplemented in octomap::OcTreeBaseSE< NODE >.

template<class NODE, class INTERFACE>

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_bbx_end [protected, inherited]

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

template<class NODE, class INTERFACE>

const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end [protected, inherited]

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::end(), and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::end_leafs().

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value[3] [protected, inherited]

max in x, y, z

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value[3] [protected, inherited]

min in x, y, z

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution [protected, inherited]

in meters

Referenced by octomap::OcTreeStamped::create(), octomap::OcTree::create(), octomap::ColorOcTree::create(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getResolution(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::keyToCoord(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==().

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution_factor [protected, inherited]

= 1. / resolution

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

template<class NODE, class INTERFACE>

NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::root [protected, inherited]

Referenced by getCentersMinHits(), octomap::OcTreeStamped::getLastUpdateTime(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getRoot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl(), octomap::ColorOcTree::updateInnerOccupancy(), and updateNode().

template<class NODE, class INTERFACE>

bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::size_changed [protected, inherited]

flag to denote whether the octree extent changed (for lazy min/max eval)

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().

template<class NODE, class INTERFACE>

std::vector<double> octomap::OcTreeBaseImpl< NODE, INTERFACE >::sizeLookupTable [protected, inherited]

contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)

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

template<class NODE, class INTERFACE>

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_center [protected, inherited]

template<class NODE, class INTERFACE>

const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth [protected, inherited]

Maximum tree depth is fixed to 16 currently.

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::adjustKeyAtDepth(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::coordToKey(), getCentersMinHits(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getNodeSize(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getTreeDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and updateNode().

template<class NODE, class INTERFACE>

const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_iterator_end [protected, inherited]

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

template<class NODE, class INTERFACE>

const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val [protected, inherited]

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::coordToKey(), getCentersMinHits(), getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::keyToCoord(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==().

template<class NODE, class INTERFACE>

size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size [protected, inherited]

number of nodes in tree

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::size(), and updateNode().

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

include/octomap/CountingOcTree.h
src/CountingOcTree.cpp

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation