octomap::OcTreeBase< NODE >::leaf_bbx_iterator Class Reference

Bounding-box leaf iterator. More...

Inheritance diagram for octomap::OcTreeBase< NODE >::leaf_bbx_iterator:

Collaboration diagram for octomap::OcTreeBase< NODE >::leaf_bbx_iterator:

Public Member Functions
point3d	getCoordinate () const
	return the center coordinate of the current node
unsigned	getDepth () const
	return depth of the current node
OcTreeKey	getIndexKey () const
const OcTreeKey &	getKey () const
double	getSize () const
double	getX () const
double	getY () const
double	getZ () const
	leaf_bbx_iterator (const leaf_bbx_iterator &other)
	leaf_bbx_iterator (OcTreeBase< NodeType > const *tree, const point3d &min, const point3d &max, unsigned char depth=0)
	Constructor of the iterator.
	leaf_bbx_iterator (OcTreeBase< NodeType > const *tree, const OcTreeKey &min, const OcTreeKey &max, unsigned char depth=0)
	Constructor of the iterator.
	leaf_bbx_iterator ()
bool	operator!= (const iterator_base &other) const
	Comparison between interators. First compares the tree, then stack size and top element of stack.
NodeType &	operator* ()
	Return the current node in the octree which the iterator is referring to.
const NodeType &	operator* () const
	Return the current node in the octree which the iterator is referring to.
leaf_bbx_iterator &	operator++ ()
	prefix increment operator of iterator (++it)
leaf_bbx_iterator	operator++ (int)
	postfix increment operator of iterator (it++)
NodeType const *	operator-> () const
	Ptr operator will return the current node in the octree which the iterator is referring to.
NodeType *	operator-> ()
	Ptr operator will return the current node in the octree which the iterator is referring to.
bool	operator== (const iterator_base &other) const
	Comparison between interators. First compares the tree, then stack size and top element of stack.
Protected Member Functions
void	singleIncrement ()
	One step of depth-first tree traversal.
Protected Attributes
unsigned char	maxDepth
	Maximum depth for depth-limited queries.
OcTreeKey	maxKey
OcTreeKey	minKey
std::stack< StackElement, std::vector< StackElement > >	stack
	Internal recursion stack. Apparently a stack of vector works fastest here.
OcTreeBase< NodeType > const *	tree
	Octree this iterator is working on.

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Detailed Description

template<class NODE>
class octomap::OcTreeBase< NODE >::leaf_bbx_iterator

Bounding-box leaf iterator.

This iterator will traverse all leaf nodes within a given bounding box (axis-aligned). See below for example usage. Note that the non-trivial call to tree->end_leafs_bbx() should be done only once for efficiency!

 for(OcTreeTYPE::leaf_bbx_iterator it = tree->begin_leafs_bbx(min,max),
        end=tree->end_leafs_bbx(); it!= end; ++it)
 {
   //manipulate node, e.g.:
   std::cout << "Node center: " << it.getCoordinate() << std::endl;
   std::cout << "Node size: " << it.getSize() << std::endl;
   std::cout << "Node value: " << it->getValue() << std::endl;
 }

---

Constructor & Destructor Documentation

template<class NODE>

octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator

(

)

[inline]

template<class NODE>

octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBase< NodeType > const *	tree,
		const point3d &	min,
		const point3d &	max,
		unsigned char	depth = 0
	)		[inline]

Constructor of the iterator.

The bounding box corners min and max are converted into an OcTreeKey first.

Note:

Due to rounding and discretization effects, nodes may be traversed that have float coordinates appearing outside of the (float) bounding box. However, the node's complete volume will include the bounding box coordinate. For a more exact control, use the constructor with OcTreeKeys instead.

Parameters:

tree	OcTreeBase on which the iterator is used on
min	Minimum point3d of the axis-aligned boundingbox
max	Maximum point3d of the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References octomap::OcTreeBase< NODE >::genKey(), octomap::OcTreeBase< NODE >::iterator_base::maxDepth, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::maxKey, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::minKey, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++(), and octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBase< NodeType > const *	tree,
		const OcTreeKey &	min,
		const OcTreeKey &	max,
		unsigned char	depth = 0
	)		[inline]

Constructor of the iterator.

This version uses the exact keys as axis-aligned bounding box (including min and max).

Parameters:

tree	OcTreeBase on which the iterator is used on
min	Minimum OcTreeKey to be included in the axis-aligned boundingbox
max	Maximum OcTreeKey to be included in the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++(), and octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator

(

const leaf_bbx_iterator &

other

)

[inline]

References octomap::OcTreeBase< NODE >::leaf_bbx_iterator::maxKey, and octomap::OcTreeBase< NODE >::leaf_bbx_iterator::minKey.

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Member Function Documentation

template<class NODE>

point3d octomap::OcTreeBase< NODE >::iterator_base::getCoordinate

(

)

const [inline, inherited]

return the center coordinate of the current node

References octomap::OcTreeBase< NODE >::genCoords(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

unsigned octomap::OcTreeBase< NODE >::iterator_base::getDepth

(

)

const [inline, inherited]

return depth of the current node

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

OcTreeKey octomap::OcTreeBase< NODE >::iterator_base::getIndexKey

(

)

const [inline, inherited]

Returns:

the OcTreeKey of the current node, for nodes with depth != maxDepth

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

const OcTreeKey& octomap::OcTreeBase< NODE >::iterator_base::getKey

(

)

const [inline, inherited]

Returns:

the OcTreeKey of the current node

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

double octomap::OcTreeBase< NODE >::iterator_base::getSize

(

)

const [inline, inherited]

Returns:

the side if the volume occupied by the current node

References octomap::OcTreeBase< NODE >::getNodeSize(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

double octomap::OcTreeBase< NODE >::iterator_base::getX

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References octomap::OcTreeBase< NODE >::genCoordFromKey(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

double octomap::OcTreeBase< NODE >::iterator_base::getY

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References octomap::OcTreeBase< NODE >::genCoordFromKey(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

double octomap::OcTreeBase< NODE >::iterator_base::getZ

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References octomap::OcTreeBase< NODE >::genCoordFromKey(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

bool octomap::OcTreeBase< NODE >::iterator_base::operator!=

(

const iterator_base &

other

)

const [inline, inherited]

Comparison between interators. First compares the tree, then stack size and top element of stack.

References octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

NodeType& octomap::OcTreeBase< NODE >::iterator_base::operator*

(

)

[inline, inherited]

Return the current node in the octree which the iterator is referring to.

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

const NodeType& octomap::OcTreeBase< NODE >::iterator_base::operator*

(

)

const [inline, inherited]

Return the current node in the octree which the iterator is referring to.

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

leaf_bbx_iterator& octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++

(

)

[inline]

prefix increment operator of iterator (++it)

References octomap::OcTreeBase< NODE >::iterator_base::maxDepth, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement(), octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

Referenced by octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator().

template<class NODE>

leaf_bbx_iterator octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++

(

int

)

[inline]

postfix increment operator of iterator (it++)

template<class NODE>

NodeType* octomap::OcTreeBase< NODE >::iterator_base::operator->

(

)

[inline, inherited]

Ptr operator will return the current node in the octree which the iterator is referring to.

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

NodeType const* octomap::OcTreeBase< NODE >::iterator_base::operator->

(

)

const [inline, inherited]

Ptr operator will return the current node in the octree which the iterator is referring to.

References octomap::OcTreeBase< NODE >::iterator_base::stack.

template<class NODE>

bool octomap::OcTreeBase< NODE >::iterator_base::operator==

(

const iterator_base &

other

)

const [inline, inherited]

Comparison between interators. First compares the tree, then stack size and top element of stack.

References octomap::OcTreeBase< NODE >::iterator_base::stack, and octomap::OcTreeBase< NODE >::iterator_base::tree.

template<class NODE>

void octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement

(

)

[inline, protected]

One step of depth-first tree traversal.

How this is used depends on the actual iterator.

Reimplemented from octomap::OcTreeBase< NODE >::iterator_base.

References octomap::computeChildKey(), octomap::OcTreeBase< NODE >::iterator_base::StackElement::depth, octomap::OcTreeBase< NODE >::iterator_base::StackElement::key, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::maxKey, octomap::OcTreeBase< NODE >::leaf_bbx_iterator::minKey, octomap::OcTreeBase< NODE >::iterator_base::StackElement::node, octomap::OcTreeBase< NODE >::iterator_base::stack, octomap::OcTreeBase< NODE >::iterator_base::tree, and octomap::OcTreeBase< NODE >::tree_max_val.

Referenced by octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++().

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Field Documentation

template<class NODE>

unsigned char octomap::OcTreeBase< NODE >::iterator_base::maxDepth [protected, inherited]

Maximum depth for depth-limited queries.

Referenced by octomap::OcTreeBase< NODE >::tree_iterator::isLeaf(), octomap::OcTreeBase< NODE >::iterator_base::iterator_base(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++(), octomap::OcTreeBase< NODE >::leaf_iterator::operator++(), octomap::OcTreeBase< NODE >::iterator_base::operator=(), and octomap::OcTreeBase< NODE >::iterator_base::singleIncrement().

template<class NODE>

OcTreeKey octomap::OcTreeBase< NODE >::leaf_bbx_iterator::maxKey [protected]

Referenced by octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator(), and octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement().

template<class NODE>

OcTreeKey octomap::OcTreeBase< NODE >::leaf_bbx_iterator::minKey [protected]

Referenced by octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator(), and octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement().

template<class NODE>

std::stack<StackElement,std::vector<StackElement> > octomap::OcTreeBase< NODE >::iterator_base::stack [protected, inherited]

Internal recursion stack. Apparently a stack of vector works fastest here.

Referenced by octomap::OcTreeBase< NODE >::iterator_base::getCoordinate(), octomap::OcTreeBase< NODE >::iterator_base::getDepth(), octomap::OcTreeBase< NODE >::iterator_base::getIndexKey(), octomap::OcTreeBase< NODE >::iterator_base::getKey(), octomap::OcTreeBase< NODE >::iterator_base::getSize(), octomap::OcTreeBase< NODE >::iterator_base::getX(), octomap::OcTreeBase< NODE >::iterator_base::getY(), octomap::OcTreeBase< NODE >::iterator_base::getZ(), octomap::OcTreeBase< NODE >::tree_iterator::isLeaf(), octomap::OcTreeBase< NODE >::iterator_base::iterator_base(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::leaf_bbx_iterator(), octomap::OcTreeBase< NODE >::leaf_iterator::leaf_iterator(), octomap::OcTreeBase< NODE >::iterator_base::operator!=(), octomap::OcTreeBase< NODE >::iterator_base::operator*(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++(), octomap::OcTreeBase< NODE >::leaf_iterator::operator++(), octomap::OcTreeBase< NODE >::tree_iterator::operator++(), octomap::OcTreeBase< NODE >::iterator_base::operator->(), octomap::OcTreeBase< NODE >::iterator_base::operator=(), octomap::OcTreeBase< NODE >::iterator_base::operator==(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement(), and octomap::OcTreeBase< NODE >::iterator_base::singleIncrement().

template<class NODE>

OcTreeBase<NodeType> const* octomap::OcTreeBase< NODE >::iterator_base::tree [protected, inherited]

Octree this iterator is working on.

Referenced by octomap::OcTreeBase< NODE >::iterator_base::getCoordinate(), octomap::OcTreeBase< NODE >::iterator_base::getSize(), octomap::OcTreeBase< NODE >::iterator_base::getX(), octomap::OcTreeBase< NODE >::iterator_base::getY(), octomap::OcTreeBase< NODE >::iterator_base::getZ(), octomap::OcTreeBase< NODE >::iterator_base::operator!=(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::operator++(), octomap::OcTreeBase< NODE >::leaf_iterator::operator++(), octomap::OcTreeBase< NODE >::tree_iterator::operator++(), octomap::OcTreeBase< NODE >::iterator_base::operator=(), octomap::OcTreeBase< NODE >::iterator_base::operator==(), octomap::OcTreeBase< NODE >::leaf_bbx_iterator::singleIncrement(), and octomap::OcTreeBase< NODE >::iterator_base::singleIncrement().

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

• include/octomap/OcTreeBase.h