octomap::CountingOcTreeNode Class Reference

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

Inheritance diagram for octomap::CountingOcTreeNode:

Collaboration diagram for octomap::CountingOcTreeNode:

Public Types
typedef unsigned int	DataType
	Make the templated data type available from the outside.
Public Member Functions
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.
	CountingOcTreeNode ()
	implementation of CountingOcTreeNode ----------------------------------
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.
CountingOcTreeNode *	getChild (unsigned int i)
const CountingOcTreeNode *	getChild (unsigned int i) const
unsigned int	getCount () const
unsigned int	getValue () const
bool	hasChildren () const
void	increaseCount ()
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical.
bool	pruneNode ()
	Prunes a node when it is collapsible.
std::istream &	readValue (std::istream &s)
	Read node from binary stream (incl.
void	setCount (unsigned c)
void	setValue (unsigned intv)
	sets value to be stored in the node
std::ostream &	writeValue (std::ostream &s) const
	Write node to binary stream (incl float value), recursively continue with all children.
	~CountingOcTreeNode ()
Protected Member Functions
void	allocChildren ()
Protected Attributes
OcTreeDataNode< unsigned int > **	children
	pointer to array of children, may be NULL
unsigned int	value
	stored data (payload)

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Detailed Description

An Octree-node 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 CountingOcTree in the sensor model only

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Member Typedef Documentation

typedef unsigned int octomap::OcTreeDataNode< unsigned int >::DataType [inherited]

Make the templated data type available from the outside.

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Constructor & Destructor Documentation

octomap::CountingOcTreeNode::CountingOcTreeNode

(

)

implementation of CountingOcTreeNode ----------------------------------

Referenced by createChild().

octomap::CountingOcTreeNode::~CountingOcTreeNode

(

)

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Member Function Documentation

void octomap::OcTreeDataNode< unsigned int >::allocChildren

(

)

[protected, inherited]

Referenced by createChild().

bool octomap::OcTreeDataNode< unsigned int >::childExists

(

unsigned int

i

)

const [inherited]

Returns:

true if the i-th child exists

bool octomap::OcTreeDataNode< unsigned int >::collapsible

(

)

const [inherited]

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

bool octomap::CountingOcTreeNode::createChild

(

unsigned int

i

)

initialize i-th child, allocate children array if needed

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

References octomap::OcTreeDataNode< unsigned int >::allocChildren(), octomap::OcTreeDataNode< unsigned int >::children, and CountingOcTreeNode().

Referenced by expandNode(), and octomap::CountingOcTree::updateNode().

void octomap::OcTreeDataNode< unsigned int >::deleteChild

(

unsigned int

i

)

[inherited]

Deletes the i-th child of the node.

void octomap::CountingOcTreeNode::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< unsigned int >.

References octomap::OcTreeDataNode< unsigned int >::children, createChild(), octomap::OcTreeDataNode< unsigned int >::hasChildren(), octomap::OcTreeDataNode< T >::setValue(), and octomap::OcTreeDataNode< unsigned int >::value.

CountingOcTreeNode* octomap::CountingOcTreeNode::getChild

(

unsigned int

i

)

[inline]

Returns:

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

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), getChild(), and octomap::CountingOcTree::updateNode().

const CountingOcTreeNode* octomap::CountingOcTreeNode::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::OcTreeDataNode< unsigned int >.

References getChild().

unsigned int octomap::CountingOcTreeNode::getCount

(

)

const [inline]

References octomap::OcTreeDataNode< unsigned int >::getValue().

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

unsigned int octomap::OcTreeDataNode< unsigned int >::getValue

(

)

const [inline, inherited]

Returns:

value stored in the node

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

Referenced by getCount().

bool octomap::OcTreeDataNode< unsigned int >::hasChildren

(

)

const [inherited]

Returns:

true if the node has at least one child

Referenced by expandNode().

void octomap::CountingOcTreeNode::increaseCount

(

)

[inline]

References octomap::OcTreeDataNode< unsigned int >::value.

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

bool octomap::OcTreeDataNode< unsigned int >::operator==

(

const OcTreeDataNode< unsigned int > &

rhs

)

const [inherited]

Equals operator, compares if the stored value is identical.

bool octomap::OcTreeDataNode< unsigned int >::pruneNode

(

)

[inherited]

Prunes a node when it is collapsible.

Returns:

true if pruning was successful

std::istream& octomap::OcTreeDataNode< unsigned int >::readValue

(

std::istream &

s

)

[inherited]

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters:

s

Returns:

void octomap::CountingOcTreeNode::setCount

(

unsigned

c

)

[inline]

References octomap::OcTreeDataNode< unsigned int >::setValue().

void octomap::OcTreeDataNode< unsigned int >::setValue

(

unsigned int

v

)

[inline, inherited]

sets value to be stored in the node

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

Referenced by setCount().

std::ostream& octomap::OcTreeDataNode< unsigned int >::writeValue

(

std::ostream &

s

)

const [inherited]

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

This preserves the complete state of the node.

Parameters:

s

Returns:

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Field Documentation

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

pointer to array of children, may be NULL

Referenced by createChild(), and expandNode().

unsigned int octomap::OcTreeDataNode< unsigned int >::value [protected, inherited]

stored data (payload)

Referenced by expandNode(), and increaseCount().

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

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