tree_iterator Class Reference

Iterator over the complete tree (inner nodes and leafs). More...

Inheritance diagram for tree_iterator:

Collaboration diagram for tree_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
bool	isLeaf () const
bool	operator!= (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack.
const NodeType &	operator* () const
	Return the current node in the octree which the iterator is referring to.
NodeType &	operator* ()
	Return the current node in the octree which the iterator is referring to.
tree_iterator &	operator++ ()
	Prefix increment operator to advance the iterator.
tree_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 iterators. First compares the tree, then stack size and top element of stack.
	tree_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *tree, unsigned char depth=0)
	Constructor of the iterator.
	tree_iterator ()
Protected Member Functions
void	singleIncrement ()
	One step of depth-first tree traversal.
Protected Attributes
unsigned char	maxDepth
	Maximum depth for depth-limited queries.
std::stack< StackElement, std::vector< StackElement > >	stack
	Internal recursion stack. Apparently a stack of vector works fastest here.
OcTreeBaseImpl< NodeType, INTERFACE > const *	tree
	Octree this iterator is working on.

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Detailed Description

Iterator over the complete tree (inner nodes and leafs).

See below for example usage. Note that the non-trivial call to tree->end_tree() should be done only once for efficiency!

 for(OcTreeTYPE::tree_iterator it = tree->begin_tree(),
        end=tree->end_tree(); 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;
 }

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Constructor & Destructor Documentation

tree_iterator::tree_iterator

(

)

[inline]

tree_iterator::tree_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	tree,
		unsigned char	depth = 0
	)		[inline]

Constructor of the iterator.

Parameters:

tree	OcTreeBaseImpl on which the iterator is used on
depth	Maximum depth to traverse the tree. 0 (default): unlimited

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Member Function Documentation

point3d iterator_base::getCoordinate

(

)

const [inline, inherited]

return the center coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

unsigned iterator_base::getDepth

(

)

const [inline, inherited]

return depth of the current node

References iterator_base::stack.

OcTreeKey iterator_base::getIndexKey

(

)

const [inline, inherited]

Returns:

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

References octomap::computeIndexKey(), iterator_base::stack, and iterator_base::tree.

const OcTreeKey& iterator_base::getKey

(

)

const [inline, inherited]

Returns:

the OcTreeKey of the current node

References iterator_base::stack.

double iterator_base::getSize

(

)

const [inline, inherited]

Returns:

the side if the volume occupied by the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getX

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getY

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

double iterator_base::getZ

(

)

const [inline, inherited]

Returns:

single coordinate of the current node

References iterator_base::stack, and iterator_base::tree.

bool tree_iterator::isLeaf

(

)

const [inline]

Returns:

whether the current node is a leaf, i.e. has no children or is at max level

References iterator_base::maxDepth, and iterator_base::stack.

bool iterator_base::operator!=

(

const iterator_base &

other

)

const [inline, inherited]

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

References iterator_base::stack, and iterator_base::tree.

const NodeType& iterator_base::operator*

(

)

const [inline, inherited]

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

References iterator_base::stack.

NodeType& iterator_base::operator*

(

)

[inline, inherited]

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

References iterator_base::stack.

tree_iterator& tree_iterator::operator++

(

)

[inline]

Prefix increment operator to advance the iterator.

References iterator_base::singleIncrement(), iterator_base::stack, and iterator_base::tree.

tree_iterator tree_iterator::operator++

(

int

)

[inline]

postfix increment operator of iterator (it++)

NodeType* iterator_base::operator->

(

)

[inline, inherited]

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

References iterator_base::stack.

NodeType const* iterator_base::operator->

(

)

const [inline, inherited]

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

References iterator_base::stack.

bool iterator_base::operator==

(

const iterator_base &

other

)

const [inline, inherited]

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

References iterator_base::stack, and iterator_base::tree.

void iterator_base::singleIncrement

(

)

[inline, protected, inherited]

One step of depth-first tree traversal.

How this is used depends on the actual iterator.

Reimplemented in leaf_bbx_iterator.

References octomap::computeChildKey(), iterator_base::StackElement::depth, iterator_base::StackElement::key, iterator_base::maxDepth, iterator_base::StackElement::node, iterator_base::stack, and iterator_base::tree.

Referenced by leaf_iterator::operator++(), and operator++().

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Field Documentation

unsigned char iterator_base::maxDepth [protected, inherited]

Maximum depth for depth-limited queries.

Referenced by octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_leafs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_leafs_bbx(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::begin_tree(), isLeaf(), iterator_base::iterator_base(), leaf_bbx_iterator::leaf_bbx_iterator(), leaf_bbx_iterator::operator++(), leaf_iterator::operator++(), iterator_base::operator=(), and iterator_base::singleIncrement().

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

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

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

OcTreeBaseImpl<NodeType,INTERFACE> const* iterator_base::tree [protected, inherited]

Octree this iterator is working on.

Referenced by iterator_base::getCoordinate(), iterator_base::getIndexKey(), iterator_base::getSize(), iterator_base::getX(), iterator_base::getY(), iterator_base::getZ(), iterator_base::operator!=(), leaf_bbx_iterator::operator++(), leaf_iterator::operator++(), operator++(), iterator_base::operator=(), iterator_base::operator==(), leaf_bbx_iterator::singleIncrement(), and iterator_base::singleIncrement().

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

• include/octomap/OcTreeIterator.hxx