octomap::ScanNode Class Reference

A 3D scan as Pointcloud, performed from a Pose6D. More...

Collaboration diagram for octomap::ScanNode:

Public Member Functions
bool	operator== (const ScanNode &other)
std::istream &	readBinary (std::istream &s)
std::istream &	readPoseASCII (std::istream &s)
	ScanNode (Pointcloud *_scan, pose6d _pose, unsigned int _id)
	ScanNode ()
std::ostream &	writeBinary (std::ostream &s) const
std::ostream &	writePoseASCII (std::ostream &s) const
	~ScanNode ()
Data Fields
unsigned int	id
pose6d	pose
	6D pose from which the scan was performed
Pointcloud *	scan

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Detailed Description

A 3D scan as Pointcloud, performed from a Pose6D.

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Constructor & Destructor Documentation

octomap::ScanNode::ScanNode	(	Pointcloud *	_scan,
		pose6d	_pose,
		unsigned int	_id
	)		[inline]

octomap::ScanNode::ScanNode

(

)

[inline]

octomap::ScanNode::~ScanNode

(

)

References scan.

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Member Function Documentation

bool octomap::ScanNode::operator==

(

const ScanNode &

other

)

[inline]

References id.

std::istream & octomap::ScanNode::readBinary

(

std::istream &

s

)

References pose, octomath::Pose6D::readBinary(), octomap::Pointcloud::readBinary(), and scan.

Referenced by octomap::ScanGraph::readBinary().

std::istream & octomap::ScanNode::readPoseASCII

(

std::istream &

s

)

References OCTOMAP_ERROR, pose, octomath::Vector3::read(), octomath::Pose6D::rot(), and octomath::Pose6D::trans().

std::ostream & octomap::ScanNode::writeBinary

(

std::ostream &

s

)

const

References pose, scan, octomath::Pose6D::writeBinary(), and octomap::Pointcloud::writeBinary().

std::ostream & octomap::ScanNode::writePoseASCII

(

std::ostream &

s

)

const

References id, pose, octomath::Pose6D::rot(), and octomath::Pose6D::trans().

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Field Documentation

unsigned int octomap::ScanNode::id

Referenced by octomap::ScanGraph::getNeighborIDs(), operator==(), octomap::ScanEdge::writeASCII(), octomap::ScanEdge::writeBinary(), and writePoseASCII().

pose6d octomap::ScanNode::pose

6D pose from which the scan was performed

Referenced by octomap::ScanGraph::addEdge(), octomap::ScanGraph::connectPrevious(), octomap::OccupancyOcTreeBase< NODE >::insertScan(), readBinary(), octomap::ScanGraph::readNodePosesASCII(), octomap::ScanGraph::readPlainASCII(), readPoseASCII(), writeBinary(), and writePoseASCII().

Pointcloud* octomap::ScanNode::scan

Referenced by octomap::OccupancyOcTreeBase< NODE >::insertScan(), readBinary(), octomap::ScanGraph::readPlainASCII(), writeBinary(), and ~ScanNode().

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

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