Nodes to be used in OcTree. More...

Inheritance diagram for octomap::OcTreeNode:

Collaboration diagram for octomap::OcTreeNode:

Public Types
typedef float	DataType
	Make the templated data type available from the outside.
Public Member Functions
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!)
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.
OcTreeNode *	getChild (unsigned int i)
const OcTreeNode *	getChild (unsigned int i) const
float	getLogOdds () const
float	getMaxChildLogOdds () const
double	getMeanChildLogOdds () const
double	getOccupancy () const
float	getValue () const
bool	hasChildren () const
	OcTreeNode ()
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	setLogOdds (float l)
	sets log odds occupancy of node
void	setValue (floatv)
	sets value to be stored in the node
void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy
std::ostream &	writeValue (std::ostream &s) const
	Write node to binary stream (incl float value), recursively continue with all children.
	~OcTreeNode ()
Protected Member Functions
void	allocChildren ()
Protected Attributes
OcTreeDataNode< float > **	children
	pointer to array of children, may be NULL
float	value
	stored data (payload)

Detailed Description

Nodes to be used in OcTree.

They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.

Hint: If a class is derived from OcTreeNode, you have to implement (at least) createChild, getChild, and getChild const. See OcTreeNodeLabeled for an example.

Member Typedef Documentation

typedef float octomap::OcTreeDataNode< float >::DataType [inherited]

Make the templated data type available from the outside.

Constructor & Destructor Documentation

octomap::OcTreeNode::OcTreeNode ( )

Referenced by createChild().

octomap::OcTreeNode::~OcTreeNode ( )

Member Function Documentation

void octomap::OcTreeNode::addValue ( const float & p )

adds p to the node's logOdds value (with no boundary / threshold checking!)

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

void octomap::OcTreeDataNode< float >::allocChildren ( ) [protected, inherited]

Referenced by createChild(), octomap::OcTreeNodeStamped::createChild(), and octomap::ColorOcTreeNode::createChild().

bool octomap::OcTreeDataNode< float >::childExists ( unsigned int i ) const [inherited]

Returns:: true if the i-th child exists

Referenced by octomap::ColorOcTreeNode::getAverageChildColor(), getMaxChildLogOdds(), getMeanChildLogOdds(), and octomap::ColorOcTreeNode::writeValue().

bool octomap::OcTreeDataNode< float >::collapsible ( ) const [inherited]

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

Referenced by octomap::ColorOcTreeNode::pruneNode().

bool octomap::OcTreeNode::createChild ( unsigned int i )

initialize i-th child, allocate children array if needed

Reimplemented from octomap::OcTreeDataNode< float >.

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

References octomap::OcTreeDataNode< float >::allocChildren(), octomap::OcTreeDataNode< float >::children, and OcTreeNode().

void octomap::OcTreeDataNode< float >::deleteChild ( unsigned int i ) [inherited]

Deletes the i-th child of the node.

void octomap::OcTreeDataNode< float >::expandNode ( ) [inherited]

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.

OcTreeNode* octomap::OcTreeNode::getChild ( unsigned int i ) [inline]

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

Reimplemented from octomap::OcTreeDataNode< float >.

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

Referenced by getChild(), getLeafNodesRecurs(), getMaxChildLogOdds(), getMeanChildLogOdds(), and getVoxelsRecurs().

const OcTreeNode* octomap::OcTreeNode::getChild ( unsigned int i ) const [inline]

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

Reimplemented from octomap::OcTreeDataNode< float >.

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

References getChild().

float octomap::OcTreeNode::getLogOdds ( ) const [inline]

Returns:: log odds representation of occupancy probability of node

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

Referenced by getMaxChildLogOdds(), octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), main(), and octomap::ColorOcTreeNode::pruneNode().

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

Returns:: maximum of children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::childExists(), getChild(), and getLogOdds().

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and updateOccupancyChildren().

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

Returns:: mean of all children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::childExists(), getChild(), and getOccupancy().

double octomap::OcTreeNode::getOccupancy ( ) const [inline]

Returns:: occupancy probability of node

References octomap::probability(), and octomap::OcTreeDataNode< float >::value.

Referenced by getMeanChildLogOdds(), octomap::ColorOcTree::integrateNodeColor(), and print_query_info().

float octomap::OcTreeDataNode< float >::getValue ( ) const [inline, inherited]

Returns:: value stored in the node

bool octomap::OcTreeDataNode< float >::hasChildren ( ) const [inherited]

Returns:: true if the node has at least one child

Referenced by octomap::ColorOcTreeNode::expandNode().

bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > & rhs ) const [inherited]

Equals operator, compares if the stored value is identical.

bool octomap::OcTreeDataNode< float >::pruneNode ( ) [inherited]

Prunes a node when it is collapsible.

Returns:: true if pruning was successful

Reimplemented in octomap::ColorOcTreeNode.

std::istream& octomap::OcTreeDataNode< float >::readValue ( std::istream & s ) [inherited]

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters:

s

Returns:

Reimplemented in octomap::ColorOcTreeNode.

void octomap::OcTreeNode::setLogOdds ( float l ) [inline]

sets log odds occupancy of node

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

Referenced by octomap::ColorOcTreeNode::pruneNode(), octomap::OcTreeNodeStamped::updateOccupancyChildren(), and updateOccupancyChildren().

void octomap::OcTreeDataNode< float >::setValue ( float v ) [inline, inherited]

sets value to be stored in the node

void octomap::OcTreeNode::updateOccupancyChildren ( ) [inline]

update this node's occupancy according to its children's maximum occupancy

Reimplemented in octomap::OcTreeNodeStamped.

References getMaxChildLogOdds(), and setLogOdds().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

std::ostream& octomap::OcTreeDataNode< float >::writeValue ( std::ostream & s ) const [inherited]

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

This preserves the complete state of the node.

Parameters:

s

Returns:

Reimplemented in octomap::ColorOcTreeNode.

Field Documentation

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

pointer to array of children, may be NULL

Referenced by createChild(), octomap::OcTreeNodeStamped::createChild(), octomap::ColorOcTreeNode::createChild(), octomap::ColorOcTreeNode::expandNode(), octomap::ColorOcTreeNode::pruneNode(), octomap::ColorOcTreeNode::readValue(), and octomap::ColorOcTreeNode::writeValue().

float octomap::OcTreeDataNode< float >::value [protected, inherited]

stored data (payload)

Referenced by addValue(), octomap::ColorOcTreeNode::expandNode(), getLogOdds(), getOccupancy(), octomap::OcTreeNodeStamped::operator==(), octomap::ColorOcTreeNode::operator==(), octomap::ColorOcTreeNode::readValue(), setLogOdds(), and octomap::ColorOcTreeNode::writeValue().

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

include/octomap/OcTreeNode.h
src/OcTreeNode.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation