octomap::OcTreeDataNode< T > Class Template Reference

Basic node in the OcTree that can hold arbitrary data of type T in value. More...

Inheritance diagram for octomap::OcTreeDataNode< T >:

Collaboration diagram for octomap::OcTreeDataNode< T >:

Public Types
typedef T	DataType
	Make the templated data type available from the outside.
Public Member Functions
bool	childExists (unsigned int i) const
bool	collapsible () const
	A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
bool	createChild (unsigned int i)
	initialize i-th child, allocate children array if needed
void	deleteChild (unsigned int i)
	Deletes the i-th child of the node.
void	expandNode ()
	Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.
const OcTreeDataNode< T > *	getChild (unsigned int i) const
OcTreeDataNode< T > *	getChild (unsigned int i)
T	getValue () const
bool	hasChildren () const
	OcTreeDataNode (T initVal)
	OcTreeDataNode (const OcTreeDataNode &rhs)
	Copy constructor, performs a recursive deep-copy of all children.
	OcTreeDataNode ()
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical.
bool	pruneNode ()
	Prunes a node when it is collapsible.
std::istream &	readValue (std::istream &s)
	Read node from binary stream (incl.
void	setValue (T v)
	sets value to be stored in the node
std::ostream &	writeValue (std::ostream &s) const
	Write node to binary stream (incl float value), recursively continue with all children.
	~OcTreeDataNode ()
Protected Member Functions
void	allocChildren ()
Protected Attributes
OcTreeDataNode< T > **	children
	pointer to array of children, may be NULL
T	value
	stored data (payload)

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Detailed Description

template<typename T>
class octomap::OcTreeDataNode< T >

Basic node in the OcTree that can hold arbitrary data of type T in value.

This is the base class for nodes used in an OcTree. The used implementation for occupancy mapping is in OcTreeNode.#

Template Parameters:

T	data to be stored in the node (e.g. a float for probabilities)

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Member Typedef Documentation

template<typename T>

typedef T octomap::OcTreeDataNode< T >::DataType

Make the templated data type available from the outside.

---

Constructor & Destructor Documentation

template<typename T >

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

)

template<typename T>

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

T

initVal

)

template<typename T>

octomap::OcTreeDataNode< T >::OcTreeDataNode

(

const OcTreeDataNode< T > &

rhs

)

Copy constructor, performs a recursive deep-copy of all children.

References octomap::OcTreeDataNode< T >::allocChildren(), octomap::OcTreeDataNode< T >::children, and octomap::OcTreeDataNode< T >::hasChildren().

template<typename T >

octomap::OcTreeDataNode< T >::~OcTreeDataNode

(

)

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Member Function Documentation

template<typename T >

void octomap::OcTreeDataNode< T >::allocChildren

(

)

[protected]

Referenced by octomap::OcTreeDataNode< T >::OcTreeDataNode().

template<typename T >

bool octomap::OcTreeDataNode< T >::childExists

(

unsigned int

i

)

const

Returns:

true if the i-th child exists

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and octomap::CountingOcTree::updateNode().

template<typename T >

bool octomap::OcTreeDataNode< T >::collapsible

(

)

const

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

template<typename T >

bool octomap::OcTreeDataNode< T >::createChild

(

unsigned int

i

)

initialize i-th child, allocate children array if needed

Reimplemented in octomap::ColorOcTreeNode, octomap::CountingOcTreeNode, octomap::OcTreeNode, and octomap::OcTreeNodeStamped.

template<typename T >

void octomap::OcTreeDataNode< T >::deleteChild

(

unsigned int

i

)

Deletes the i-th child of the node.

template<typename T >

void octomap::OcTreeDataNode< T >::expandNode

(

)

Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.

You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)

Reimplemented in octomap::ColorOcTreeNode, and octomap::CountingOcTreeNode.

template<typename T >

OcTreeDataNode< T > * octomap::OcTreeDataNode< T >::getChild

(

unsigned int

i

)

Returns:

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

Reimplemented in octomap::ColorOcTreeNode, octomap::CountingOcTreeNode, octomap::OcTreeNode, and octomap::OcTreeNodeStamped.

template<typename T >

const OcTreeDataNode< T > * octomap::OcTreeDataNode< T >::getChild

(

unsigned int

i

)

const

Returns:

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

Reimplemented in octomap::ColorOcTreeNode, octomap::CountingOcTreeNode, octomap::OcTreeNode, and octomap::OcTreeNodeStamped.

template<typename T>

T octomap::OcTreeDataNode< T >::getValue

(

)

const [inline]

Returns:

value stored in the node

template<typename T >

bool octomap::OcTreeDataNode< T >::hasChildren

(

)

const

Returns:

true if the node has at least one child

Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), octomap::OcTreeDataNode< T >::OcTreeDataNode(), and octomap::ColorOcTree::updateInnerOccupancyRecurs().

template<typename T >

bool octomap::OcTreeDataNode< T >::operator==

(

const OcTreeDataNode< T > &

rhs

)

const

Equals operator, compares if the stored value is identical.

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

template<typename T >

bool octomap::OcTreeDataNode< T >::pruneNode

(

)

Prunes a node when it is collapsible.

Returns:

true if pruning was successful

Reimplemented in octomap::ColorOcTreeNode.

template<typename T >

std::istream & octomap::OcTreeDataNode< T >::readValue

(

std::istream &

s

)

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters:

s

Returns:

Reimplemented in octomap::ColorOcTreeNode.

template<typename T>

void octomap::OcTreeDataNode< T >::setValue

(

T

v

)

[inline]

sets value to be stored in the node

Referenced by octomap::CountingOcTreeNode::expandNode(), and octomap::ColorOcTreeNode::expandNode().

template<typename T >

std::ostream & octomap::OcTreeDataNode< T >::writeValue

(

std::ostream &

s

)

const

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

This preserves the complete state of the node.

Parameters:

s

Returns:

Reimplemented in octomap::ColorOcTreeNode.

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Field Documentation

template<typename T>

OcTreeDataNode<T>** octomap::OcTreeDataNode< T >::children [protected]

pointer to array of children, may be NULL

Referenced by octomap::OcTreeDataNode< T >::OcTreeDataNode().

template<typename T>

T octomap::OcTreeDataNode< T >::value [protected]

stored data (payload)

Referenced by octomap::OcTreeDataNode< unsigned int >::getValue(), octomap::OcTreeNodeStamped::operator==(), octomap::OcTreeDataNode< T >::operator==(), octomap::ColorOcTreeNode::operator==(), and octomap::OcTreeDataNode< unsigned int >::setValue().

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

• include/octomap/OcTreeDataNode.h
• include/octomap/OcTreeDataNode.hxx