octomap::OcTree Class Reference

octomap main map data structure, stores 3D occupancy grid map in an OcTree. More...

Inheritance diagram for octomap::OcTree:

Collaboration diagram for octomap::OcTree:

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)
bool	bbxSet () const
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	calcNumThresholdedNodes (unsigned int &num_thresholded, unsigned int &num_other) const
virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
	Performs raycasting in 3d, similar to computeRay().
KeyBoolMap::const_iterator	changedKeysBegin ()
	Iterator to traverse all keys of changed nodes.
KeyBoolMap::const_iterator	changedKeysEnd ()
	Iterator to traverse all keys of changed 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.
void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
	Helper for insertScan.
unsigned short int	coordToKey (double coordinate) const
	Converts from a single coordinate into a discrete key.
unsigned short int	coordToKey (double coordinate, unsigned depth) const
	Converts from a single coordinate into a discrete key at a given depth.
OcTreeKey	coordToKey (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key.
OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth.
bool	coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const
	Converts a single coordinate into a discrete addressing key, with boundary checking.
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.
OcTree *	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 (float x, float y, float z, unsigned int depth=0)
	Delete a node (if exists) given a 3d point.
bool	deleteNode (const point3d &value, 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 (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 (inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const)
	DEPRECATED (void getOccupied(point3d_list &node_centers, unsigned int max_depth=0) const)
	Convenience function to return all occupied nodes in the OcTree.
	DEPRECATED (void getOccupied(std::list< OcTreeVolume > &occupied_volumes, unsigned int max_depth=0) const)
	Convenience function to return all occupied nodes in the OcTree.
	DEPRECATED (void getOccupied(std::list< OcTreeVolume > &binary_nodes, std::list< OcTreeVolume > &delta_nodes, unsigned int max_depth=0) const)
	Traverses the tree and collects all OcTreeVolumes regarded as occupied.
	DEPRECATED (void getFreespace(std::list< OcTreeVolume > &free_volumes, unsigned int max_depth=0) const)
	Convenience function to return all free nodes in the OcTree.
	DEPRECATED (bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const )
	DEPRECATED (void getOccupiedLeafsBBX(point3d_list &node_centers, point3d min, point3d max) const)
	returns occupied leafs within a bounding box defined by min and max.
	DEPRECATED (bool genKeyValue(double coordinate, unsigned short int &keyval) const)
	DEPRECATED (void getFreespace(std::list< OcTreeVolume > &binary_nodes, std::list< OcTreeVolume > &delta_nodes, unsigned int max_depth=0) const)
	Traverses the tree and collects all OcTreeVolumes regarded as free.
	DEPRECATED (bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const )
	DEPRECATED (bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const )
	DEPRECATED (bool genKey(const point3d &point, OcTreeKey &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 (inline double genCoordFromKey(const unsigned short int &key) const)
void	enableChangeDetection (bool enable)
	track or ignore changes while inserting scans (default: ignore)
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())
point3d	getBBXBounds () const
point3d	getBBXCenter () const
point3d	getBBXMax () const
point3d	getBBXMin () 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
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	getMetricMin (double &x, double &y, double &z)
	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
bool	inBBX (const OcTreeKey &key) const
bool	inBBX (const point3d &p) const
virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)
	Insert one ray between origin and end into the tree.
virtual void	insertScan (const ScanNode &scan, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
	Insert a 3d scan (given as a ScanNode) into the tree.
virtual void	insertScan (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
	Integrate a Pointcloud (in global reference frame)
virtual void	insertScan (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
	Integrate a 3d scan, transform scan before tree update.
virtual void	insertScanNaive (const Pointcloud &pc, const point3d &origin, double maxrange, bool pruning=true, bool lazy_eval=false)
	for testing only
virtual void	integrateHit (OcTreeNode *occupancyNode) const
	integrate a "hit" measurement according to the tree's sensor model
virtual void	integrateMiss (OcTreeNode *occupancyNode) const
	integrate a "miss" measurement according to the tree's sensor model
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
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
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
virtual void	nodeToMaxLikelihood (OcTreeNode &occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
virtual void	nodeToMaxLikelihood (OcTreeNode *occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
	OcTree (double resolution)
	Default constructor, sets resolution of leafs.
	OcTree (std::string _filename)
	Reads an OcTree from a binary file.
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 &	readBinaryData (std::istream &s)
	Reads only the data (=tree structure) from the input stream.
std::istream &	readBinaryNode (std::istream &s, OcTreeNode *node) const
	Read node from binary stream (max-likelihood value), recursively continue with all children.
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.
void	resetChangeDetection ()
	Reset the set of changed keys. Call this after you obtained all changed nodes.
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)
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 point3d &value, unsigned int depth=0) const
	Search node at specified depth given a 3d point (depth=0: search full tree depth)
void	setBBXMax (point3d &max)
	sets the maximum for a query bounding box to use
void	setBBXMin (point3d &min)
	sets the minimum for a query bounding box to use
void	setResolution (double r)
	Change the resolution of the octree, scaling all voxels.
virtual size_t	size () const
virtual void	toMaxLikelihood ()
	Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.
void	updateInnerOccupancy ()
	Updates the occupancy of all inner nodes to reflect their children's occupancy.
virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of voxel directly.
virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.
virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of voxel directly.
virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.
virtual void	updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const
void	useBBXLimit (bool enable)
	use or ignore BBX limit (default: ignore)
double	volume ()
std::ostream &	writeBinaryData (std::ostream &s) const
	Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)
std::ostream &	writeBinaryNode (std::ostream &s, const OcTreeNode *node) const
	Write node to binary stream (max-likelihood value), recursively continue with all children.
std::ostream &	writeData (std::ostream &s) const
	Write complete state of tree to stream (without file header) unmodified.
virtual	~OcTree ()
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
void	calcNumThresholdedNodesRecurs (OcTreeNode *node, unsigned int &num_thresholded, unsigned int &num_other) 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()
size_t	getNumLeafNodesRecurs (const NODE *parent) const
void	getOccupiedLeafsBBXRecurs (point3d_list &node_centers, unsigned int max_depth, OcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key, const OcTreeKey &min, const OcTreeKey &max) const
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)
	Traces a ray from origin to end and updates all voxels on the way as free.
void	pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune()
void	toMaxLikelihoodRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)
void	updateInnerOccupancyRecurs (OcTreeNode *node, unsigned int depth)
OcTreeNode *	updateNodeRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)
Protected Attributes
point3d	bbx_max
OcTreeKey	bbx_max_key
point3d	bbx_min
OcTreeKey	bbx_min_key
KeyBoolMap	changed_keys
	Set of leaf keys (lowest level) which changed since last resetChangeDetection.
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
bool	use_bbx_limit
	use bounding box for queries (needs to be set)?
bool	use_change_detection
Static Protected Attributes
static StaticMemberInitializer	ocTreeMemberInit
	to ensure static initialization (only once)

---

Detailed Description

octomap main map data structure, stores 3D occupancy grid map in an OcTree.

Basic functionality is implemented in OcTreeBase.

---

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::OcTree::OcTree

(

double

resolution

)

[inline]

Default constructor, sets resolution of leafs.

Referenced by create(), and octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer().

octomap::OcTree::OcTree

(

std::string

_filename

)

Reads an OcTree from a binary file.

Parameters:

_filename

virtual octomap::OcTree::~OcTree

(

)

[inline, virtual]

---

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

bool octomap::OccupancyOcTreeBase< OcTreeNode >::bbxSet

(

)

const [inline, inherited]

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]

void octomap::OccupancyOcTreeBase< OcTreeNode >::calcNumThresholdedNodes	(	unsigned int &	num_thresholded,
		unsigned int &	num_other
	)		const [inherited]

void octomap::OccupancyOcTreeBase< OcTreeNode >::calcNumThresholdedNodesRecurs	(	OcTreeNode *	node,
		unsigned int &	num_thresholded,
		unsigned int &	num_other
	)		const [protected, inherited]

virtual bool octomap::OccupancyOcTreeBase< OcTreeNode >::castRay	(	const point3d &	origin,
		const point3d &	direction,
		point3d &	end,
		bool	ignoreUnknownCells = false,
		double	maxRange = -1.0
	)		const [virtual, inherited]

Performs raycasting in 3d, similar to computeRay().

A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.

Parameters:

origin	starting coordinate of ray
direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
end	returns the center of the cell that was hit by the ray, if successful
ignoreUnknownCells	whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns:

whether or not an occupied cell was hit

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< OcTreeNode >::changedKeysBegin

(

)

[inline, inherited]

Iterator to traverse all keys of changed nodes.

you need to enableChangeDetection() first. Here, an OcTreeKey always refers to a node at the lowest tree level (its size is the minimum tree resolution)

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< OcTreeNode >::changedKeysEnd

(

)

[inline, inherited]

Iterator to traverse all keys of changed nodes.

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().

void octomap::OccupancyOcTreeBase< OcTreeNode >::computeUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange
	)		[inherited]

Helper for insertScan.

Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones.

Parameters:

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

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 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>

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 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 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 octomap::CountingOcTree::updateNode().

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

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

OcTree* octomap::OcTree::create

(

)

const [inline]

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

References OcTree(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::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	(	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 >::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 >::deleteNodeRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		const OcTreeKey &	key
	)		[protected, inherited]

recursive call of deleteNode()

References octomap::computeChildIdx().

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getOccupiedLeafsBBX(point3d_list &node_centers, point3d min, point3d max)

const

)

[inherited]

returns occupied leafs within a bounding box defined by min and max.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead!

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getFreespace(std::list< OcTreeVolume > &free_volumes, unsigned int max_depth=0)

const

)

[inherited]

Convenience function to return all free nodes in the OcTree.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead!

Parameters:

free_volumes	list of free nodes (as point3d and size of the volume)
max_depth	Depth limit of query. 0 (default): no depth limit

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getOccupied(std::list< OcTreeVolume > &binary_nodes, std::list< OcTreeVolume > &delta_nodes, unsigned int max_depth=0)

const

)

[inherited]

Traverses the tree and collects all OcTreeVolumes regarded as occupied.

Inner nodes with both occupied and free children are regarded as occupied. This should be for internal use only, use getOccupied(occupied_volumes) instead.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead! *

Parameters:

binary_nodes	list of binary OcTreeVolumes which are occupied
delta_nodes	list of delta OcTreeVolumes which are occupied
max_depth	Depth limit of query. 0 (default): no depth limit

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getFreespace(std::list< OcTreeVolume > &binary_nodes, std::list< OcTreeVolume > &delta_nodes, unsigned int max_depth=0)

const

)

[inherited]

Traverses the tree and collects all OcTreeVolumes regarded as free.

Inner nodes with both occupied and free children are regarded as occupied.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead!

Parameters:

binary_nodes	list of binary OcTreeVolumes which are free
delta_nodes	list of delta OcTreeVolumes which are free
max_depth	Depth limit of query. 0 (default): no depth limit

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>

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

(

bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord)

const

)

[inline, inherited]

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 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 double genCoordFromKey(const unsigned short int &key)

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

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getOccupied(point3d_list &node_centers, unsigned int max_depth=0)

const

)

[inherited]

Convenience function to return all occupied nodes in the OcTree.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead!

Parameters:

node_centers	list of occpupied nodes (as point3d)
max_depth	Depth limit of query. 0 (default): no depth limit

octomap::OccupancyOcTreeBase< OcTreeNode >::DEPRECATED

(

void getOccupied(std::list< OcTreeVolume > &occupied_volumes, unsigned int max_depth=0)

const

)

[inherited]

Convenience function to return all occupied nodes in the OcTree.

Note:

Deprecated, will be removed in the future. Direcly access the nodes with iterators instead! *

Parameters:

occupied_volumes	list of occpupied nodes (as point3d and size of the volume)
max_depth	Depth limit of query. 0 (default): no depth limit

void octomap::OccupancyOcTreeBase< OcTreeNode >::enableChangeDetection

(

bool

enable

)

[inline, inherited]

track or ignore changes while inserting scans (default: ignore)

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()

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXBounds

(

)

const [inherited]

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXCenter

(

)

const [inherited]

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXMax

(

)

const [inline, inherited]

Returns:

the currently set maximum for bounding box queries, if set

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXMin

(

)

const [inline, inherited]

Returns:

the currently set minimum for bounding box queries, if set

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]

void octomap::OccupancyOcTreeBase< OcTreeNode >::getOccupiedLeafsBBXRecurs	(	point3d_list &	node_centers,
		unsigned int	max_depth,
		OcTreeNode *	node,
		unsigned int	depth,
		const OcTreeKey &	parent_key,
		const OcTreeKey &	min,
		const OcTreeKey &	max
	)		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::OcTree::getTreeType

(

)

const [inline]

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().

bool octomap::OccupancyOcTreeBase< OcTreeNode >::inBBX

(

const OcTreeKey &

key

)

const [inherited]

Returns:

true if key is in the currently set bounding box

bool octomap::OccupancyOcTreeBase< OcTreeNode >::inBBX

(

const point3d &

p

)

const [inherited]

Returns:

true if point is in the currently set bounding box

virtual bool octomap::OccupancyOcTreeBase< OcTreeNode >::insertRay	(	const point3d &	origin,
		const point3d &	end,
		double	maxrange = -1.0,
		bool	lazy_eval = false
	)		[virtual, inherited]

Insert one ray between origin and end into the tree.

integrateMissOnRay() is called for the ray, the end point is updated as occupied.

Parameters:

origin	origin of sensor in global coordinates
end	endpoint of measurement in global coordinates
maxrange	maximum range after which the raycast should be aborted
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:

success of operation

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::insertScan	(	const Pointcloud &	scan,
		const point3d &	sensor_origin,
		const pose6d &	frame_origin,
		double	maxrange = -1.,
		bool	pruning = true,
		bool	lazy_eval = false
	)		[virtual, inherited]

Integrate a 3d scan, transform scan before tree update.

Parameters:

scan	Pointcloud (measurement endpoints) relative to frame origin
sensor_origin	origin of sensor relative to frame origin
frame_origin	origin of reference frame, determines transform to be applied to cloud and sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
pruning	whether the tree is (losslessly) pruned after insertion (default: true)
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.

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::insertScan	(	const ScanNode &	scan,
		double	maxrange = -1.,
		bool	pruning = true,
		bool	lazy_eval = false
	)		[virtual, inherited]

Insert a 3d scan (given as a ScanNode) into the tree.

Parameters:

scan	ScanNode contains Pointcloud data and frame/sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
pruning	whether the tree is (losslessly) pruned after insertion (default: true)
lazy_eval	whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call updateInnerOccupancy() when done.

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::insertScan	(	const Pointcloud &	scan,
		const octomap::point3d &	sensor_origin,
		double	maxrange = -1.,
		bool	pruning = true,
		bool	lazy_eval = false
	)		[virtual, inherited]

Integrate a Pointcloud (in global reference frame)

Parameters:

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
pruning	whether the tree is (losslessly) pruned after insertion (default: true)
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.

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::insertScanNaive	(	const Pointcloud &	pc,
		const point3d &	origin,
		double	maxrange,
		bool	pruning = true,
		bool	lazy_eval = false
	)		[virtual, inherited]

for testing only

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::integrateHit

(

OcTreeNode *

occupancyNode

)

const [virtual, inherited]

integrate a "hit" measurement according to the tree's sensor model

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::integrateMiss

(

OcTreeNode *

occupancyNode

)

const [virtual, inherited]

integrate a "miss" measurement according to the tree's sensor model

bool octomap::OccupancyOcTreeBase< OcTreeNode >::integrateMissOnRay	(	const point3d &	origin,
		const point3d &	end,
		bool	lazy_eval = false
	)		[inline, protected, inherited]

Traces a ray from origin to end and updates all voxels on the way as free.

The volume containing "end" is not updated.

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 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(), octomap::CountingOcTree::getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::keyToCoord(), and main().

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 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 >

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

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::nodeToMaxLikelihood

(

OcTreeNode *

occupancyNode

)

const [virtual, inherited]

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::nodeToMaxLikelihood

(

OcTreeNode &

occupancyNode

)

const [virtual, inherited]

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

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()

std::istream& octomap::OccupancyOcTreeBase< OcTreeNode >::readBinaryData

(

std::istream &

s

)

[inherited]

Reads only the data (=tree structure) from the input stream.

The tree needs to be constructed with the proper header information beforehand, see readBinary().

std::istream& octomap::OccupancyOcTreeBase< OcTreeNode >::readBinaryNode	(	std::istream &	s,
		OcTreeNode *	node
	)		const [inherited]

Read node from binary stream (max-likelihood value), recursively continue with all children.

This will set the log_odds_occupancy value of all leaves to either free or occupied.

Parameters:

s

Returns:

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().

void octomap::OccupancyOcTreeBase< OcTreeNode >::resetChangeDetection

(

)

[inline, inherited]

Reset the set of changed keys. Call this after you obtained all changed nodes.

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 >

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	(	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().

void octomap::OccupancyOcTreeBase< OcTreeNode >::setBBXMax

(

point3d &

max

)

[inherited]

sets the maximum for a query bounding box to use

void octomap::OccupancyOcTreeBase< OcTreeNode >::setBBXMin

(

point3d &

min

)

[inherited]

sets the minimum for a query bounding box to use

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().

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::toMaxLikelihood

(

)

[virtual, inherited]

Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.

This enables a very efficient compression if you call prune() afterwards.

void octomap::OccupancyOcTreeBase< OcTreeNode >::toMaxLikelihoodRecurs	(	OcTreeNode *	node,
		unsigned int	depth,
		unsigned int	max_depth
	)		[protected, inherited]

void octomap::OccupancyOcTreeBase< OcTreeNode >::updateInnerOccupancy

(

)

[inherited]

Updates the occupancy of all inner nodes to reflect their children's occupancy.

If you performed batch-updates with lazy evaluation enabled, you must call this before any queries to ensure correct multi-resolution behavior.

void octomap::OccupancyOcTreeBase< OcTreeNode >::updateInnerOccupancyRecurs	(	OcTreeNode *	node,
		unsigned int	depth
	)		[protected, inherited]

virtual OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = false
	)		[virtual, inherited]

Manipulate log_odds value of voxel directly.

Parameters:

key	OcTreeKey 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

virtual OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = false
	)		[virtual, inherited]

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

virtual OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = false
	)		[virtual, inherited]

Integrate occupancy measurement.

Parameters:

key	OcTreeKey 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

virtual OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = false
	)		[virtual, inherited]

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

virtual void octomap::OccupancyOcTreeBase< OcTreeNode >::updateNodeLogOdds	(	OcTreeNode *	occupancyNode,
		const float &	update
	)		const [virtual, inherited]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNodeRecurs	(	OcTreeNode *	node,
		bool	node_just_created,
		const OcTreeKey &	key,
		unsigned int	depth,
		const float &	log_odds_update,
		bool	lazy_eval = false
	)		[protected, inherited]

void octomap::OccupancyOcTreeBase< OcTreeNode >::useBBXLimit

(

bool

enable

)

[inline, inherited]

use or ignore BBX limit (default: ignore)

template<class NODE , class I >

double octomap::OcTreeBaseImpl< NODE, I >::volume

(

)

[inherited]

std::ostream& octomap::OccupancyOcTreeBase< OcTreeNode >::writeBinaryData

(

std::ostream &

s

)

const [inherited]

Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)

std::ostream& octomap::OccupancyOcTreeBase< OcTreeNode >::writeBinaryNode	(	std::ostream &	s,
		const OcTreeNode *	node
	)		const [inherited]

Write node to binary stream (max-likelihood value), recursively continue with all children.

This will discard the log_odds_occupancy value, writing all leaves as either free or occupied.

Parameters:

s
node	OcTreeNode to write out, will recurse to all children

Returns:

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

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_max [protected, inherited]

OcTreeKey octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_max_key [protected, inherited]

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_min [protected, inherited]

OcTreeKey octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_min_key [protected, inherited]

KeyBoolMap octomap::OccupancyOcTreeBase< OcTreeNode >::changed_keys [protected, inherited]

Set of leaf keys (lowest level) which changed since last resetChangeDetection.

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().

OcTree::StaticMemberInitializer octomap::OcTree::ocTreeMemberInit [static, protected]

to ensure static initialization (only once)

template<class NODE, class INTERFACE>

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

in meters

Referenced by octomap::OcTreeStamped::create(), 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 octomap::CountingOcTree::getCentersMinHits(), octomap::OcTreeStamped::getLastUpdateTime(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getRoot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl(), octomap::ColorOcTree::updateInnerOccupancy(), and octomap::CountingOcTree::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(), octomap::CountingOcTree::getCentersMinHits(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getNodeSize(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::getTreeDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and octomap::CountingOcTree::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(), octomap::CountingOcTree::getCentersMinHits(), octomap::CountingOcTree::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 octomap::CountingOcTree::updateNode().

bool octomap::OccupancyOcTreeBase< OcTreeNode >::use_bbx_limit [protected, inherited]

use bounding box for queries (needs to be set)?

bool octomap::OccupancyOcTreeBase< OcTreeNode >::use_change_detection [protected, inherited]

---

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

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