octomap 1.5.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
octomap::OcTreeBaseImpl< NODE, INTERFACE > Class Template Reference

OcTree base class, to be used with with any kind of OcTreeDataNode. More...

Inheritance diagram for octomap::OcTreeBaseImpl< NODE, INTERFACE >:
Collaboration diagram for octomap::OcTreeBaseImpl< NODE, INTERFACE >:

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.
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 (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.
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 OcTreeKey &key, unsigned int depth=0)
 Delete a node (if exists) given an addressing key.
bool deleteNode (const point3d &value, unsigned int depth=0)
 Delete a node (if exists) given a 3d point.
 DEPRECATED (bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const )
 DEPRECATED (bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const )
 DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth) const)
 DEPRECATED (bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const )
 DEPRECATED (double genCoordFromKey(const unsigned short int &key, unsigned depth) const)
 DEPRECATED (inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const)
 DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, 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)
 DEPRECATED (bool genKey(const point3d &point, OcTreeKey &key) 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 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
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
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, 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) const
 converts from an addressing 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
 OcTreeBaseImpl (double resolution)
 OcTreeBaseImpl (const OcTreeBaseImpl< NODE, INTERFACE > &rhs)
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 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 setResolution (double r)
 Change the resolution of the octree, scaling all voxels.
virtual size_t size () const
double volume ()
std::ostream & writeData (std::ostream &s) const
 Write complete state of tree to stream (without file header) unmodified.
virtual ~OcTreeBaseImpl ()

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()
size_t getNumLeafNodesRecurs (const NODE *parent) const
 OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
 Constructor to enable derived classes to change tree constants.
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

Detailed Description

template<class NODE, class INTERFACE>
class octomap::OcTreeBaseImpl< NODE, INTERFACE >

OcTree base class, to be used with with any kind of OcTreeDataNode.

This tree implementation currently has a maximum depth of 16 nodes. For this reason, coordinates values have to be, e.g., below +/- 327.68 meters (2^15) at a maximum resolution of 0.01m.

This limitation enables the use of an efficient key generation method which uses the binary representation of the data point coordinates.

Note:
You should probably not use this class directly, but OcTreeBase or OccupancyOcTreeBase instead
Template Parameters:
NODENode class to be used in tree (usually derived from OcTreeDataNode)
INTERFACEInterface to be derived from, should be either AbstractOcTree or AbstractOccupancyOcTree

Member Typedef Documentation

template<class NODE, class INTERFACE>
typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator
template<class NODE, class INTERFACE>
typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType

Make the templated NODE type available from the outside.

Constructor & Destructor Documentation

template<class NODE , class I >
octomap::OcTreeBaseImpl< NODE, I >::OcTreeBaseImpl ( double  resolution)

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::size_changed, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

template<class NODE , class I >
octomap::OcTreeBaseImpl< NODE, I >::~OcTreeBaseImpl ( ) [virtual]
template<class NODE, class I>
octomap::OcTreeBaseImpl< NODE, I >::OcTreeBaseImpl ( const OcTreeBaseImpl< NODE, I > &  rhs)

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution, octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution().

template<class NODE, class I>
octomap::OcTreeBaseImpl< NODE, I >::OcTreeBaseImpl ( double  resolution,
unsigned int  tree_depth,
unsigned int  tree_max_val 
) [protected]

Constructor to enable derived classes to change tree constants.

This usually requires a re-implementation of some core tree-traversal functions as well!

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value, octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::size_changed, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

Member Function Documentation

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

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

Parameters:
keyInput key, at the lowest tree level
depthTarget 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

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

Parameters:
keyInput key, at the lowest tree level
depthTarget 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]
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]
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]
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]
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]
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]

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

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]
template<class NODE , class I >
void octomap::OcTreeBaseImpl< NODE, I >::clear ( )

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 
)

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:
originstart coordinate of ray
endend coordinate of ray
rayKeyRay 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

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:
originstart coordinate of ray
endend coordinate of ray
rayKeyRay 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>
unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double  coordinate) const [inline]

Converts from a single coordinate into a discrete key.

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

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

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]

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]

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

template<class NODE , class I >
bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked ( const point3d &  coord,
OcTreeKey &  key 
) const

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

Parameters:
coord3d coordinate of a point
keyvalues 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 ( const point3d &  coord,
unsigned  depth,
OcTreeKey &  key 
) const

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

Parameters:
coord3d coordinate of a point
depthlevel of the key from the top
keyvalues 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

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

Parameters:
coordinate3d coordinate of a point
keydiscrete 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

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

Parameters:
coordinate3d coordinate of a point
depthlevel of the key from the top
keydiscrete 16 bit adressing key, result
Returns:
true if coordinate is within the octree bounds (valid), false otherwise
template<class NODE, class INTERFACE>
OcTreeBaseImpl octomap::OcTreeBaseImpl< NODE, INTERFACE >::deepCopy ( ) const
template<class NODE , class I >
bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode ( const OcTreeKey &  key,
unsigned int  depth = 0 
)

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 
)

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 
)

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 >::deleteNodeRecurs ( NODE *  node,
unsigned int  depth,
unsigned int  max_depth,
const OcTreeKey &  key 
) [protected]

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

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

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

template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key)  const)
template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth)  const) [inline]
template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genKeyValue(double coordinate, unsigned short int &keyval)  const) [inline]
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)
template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED ( bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord)  const) [inline]
template<class NODE, class INTERFACE>
const iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end ( ) const [inline]
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]
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]
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]
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]

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]

recursive call of expand()

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

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

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]

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

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]

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]
template<class NODE , class I >
size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodes ( ) const

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

Referenced by getLeafNodesRecurs(), and main().

template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot ( ) const [inline]
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]
template<class NODE, class INTERFACE>
std::string octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeType ( ) const [inline]

Reimplemented in octomap::ColorOcTree, octomap::OcTree, octomap::OcTreeBase< NODE >, octomap::OcTreeStamped, and octomap::OcTreeBase< CountingOcTreeNode >.

template<class NODE , class I >
void octomap::OcTreeBaseImpl< NODE, I >::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

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) const [inline]

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]

converts from a discrete 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

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

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 ( )
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]
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]
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

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]

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]

recursive call of prune()

template<class NODE , class I >
std::istream & octomap::OcTreeBaseImpl< NODE, I >::readData ( std::istream &  s)

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 point3d &  value,
unsigned int  depth = 0 
) const

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

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 ( 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)

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)

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]
Returns:
The number of nodes in the tree

Referenced by main().

template<class NODE , class I >
double octomap::OcTreeBaseImpl< NODE, I >::volume ( )
template<class NODE , class I >
std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeData ( std::ostream &  s) const

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

Pruning the tree first produces smaller files (lossless compression)

Field Documentation

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

Reimplemented in octomap::OcTreeBaseSE< NODE >.

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

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]

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]

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]

min in x, y, z

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

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

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]

= 1. / resolution

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

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

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]

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]

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

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]

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

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

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]

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().

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