- Generated on Mon Aug 27 2012 16:12:32 for octomap by
1.7.4
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octomap 1.5.0
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Namespace the Octomap library and visualization tools. More...
Data Structures | |
| class | AbstractOccupancyOcTree |
| Interface class for all octree types that store occupancy. More... | |
| class | AbstractOcTree |
| This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()). More... | |
| class | AbstractOcTreeNode |
| class | ColorOcTree |
| class | ColorOcTreeNode |
| class | CountingOcTree |
| An AbstractOcTree which stores an internal counter per node / volume. More... | |
| class | CountingOcTreeNode |
| An Octree-node which stores an internal counter per node / volume. More... | |
| struct | equal_keys |
| comparator for keys More... | |
| struct | hash_key |
| class | KeyRay |
| class | MapCollection |
| class | MapNode |
| class | OccupancyOcTreeBase |
| Base implementation for Occupancy Octrees (e.g. More... | |
| class | OcTree |
| octomap main map data structure, stores 3D occupancy grid map in an OcTree. More... | |
| class | OcTreeBase |
| class | OcTreeBaseImpl |
| OcTree base class, to be used with with any kind of OcTreeDataNode. More... | |
| class | OcTreeBaseSE |
| class | OcTreeDataNode |
| Basic node in the OcTree that can hold arbitrary data of type T in value. More... | |
| class | OcTreeKey |
| OcTreeKey is a container class for internal key addressing. More... | |
| class | OcTreeLUT |
| Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding". More... | |
| class | OcTreeNode |
| Nodes to be used in OcTree. More... | |
| class | OcTreeNodeStamped |
| class | OcTreeStamped |
| class | Pointcloud |
| A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan. More... | |
| class | ScanEdge |
| A connection between two ScanNodes. More... | |
| class | ScanGraph |
| A ScanGraph is a collection of ScanNodes, connected by ScanEdges. More... | |
| class | ScanNode |
| A 3D scan as Pointcloud, performed from a Pose6D. More... | |
Typedefs | |
| typedef std::tr1::unordered_map < OcTreeKey, bool, OcTreeKey::KeyHash > | KeyBoolMap |
| Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes) | |
| typedef std::tr1::unordered_set < OcTreeKey, OcTreeKey::KeyHash > | KeySet |
| Data structure to efficiently compute the nodes to update from a scan insertion using a hash set. | |
| typedef std::pair< point3d, double > | OcTreeVolume |
| A voxel defined by its center point3d and its side length. | |
| typedef octomath::Vector3 | point3d |
| use our Vector3 as point3d in octomap | |
| typedef std::vector < octomath::Vector3 > | point3d_collection |
| typedef std::list < octomath::Vector3 > | point3d_list |
| typedef octomath::Pose6D | pose6d |
| use our Pose6D as pose6d in octomap | |
Functions | |
| unsigned char | computeChildIdx (const OcTreeKey &key, int depth) |
| generate child index (between 0 and 7) from key at given tree depth | |
| void | computeChildKey (const unsigned int &pos, const unsigned short int ¢er_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key) |
| Computes the key of a child node while traversing the octree, given child index and current key. | |
| OcTreeKey | computeIndexKey (unsigned short int level, const OcTreeKey &key) |
| Generates a unique key for all keys on a certain level of the tree. | |
| float | logodds (double probability) |
| compute log-odds from probability: | |
| std::ostream & | operator<< (std::ostream &out, ColorOcTreeNode::Color const &c) |
| user friendly output in format (r g b) | |
| double | probability (double logodds) |
| compute probability from logodds: | |
Namespace the Octomap library and visualization tools.
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
| typedef std::tr1::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap |
Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)
| typedef std::tr1::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet |
Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.
| typedef std::pair<point3d, double> octomap::OcTreeVolume |
A voxel defined by its center point3d and its side length.
| typedef octomath::Vector3 octomap::point3d |
use our Vector3 as point3d in octomap
| typedef std::vector<octomath::Vector3> octomap::point3d_collection |
| typedef std::list<octomath::Vector3> octomap::point3d_list |
| typedef octomath::Pose6D octomap::pose6d |
use our Pose6D as pose6d in octomap
| unsigned char octomap::computeChildIdx | ( | const OcTreeKey & | key, |
| int | depth | ||
| ) | [inline] |
generate child index (between 0 and 7) from key at given tree depth
References octomap::OcTreeKey::k.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNodeRecurs(), octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >::DEPRECATED(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::search(), octomap::CountingOcTree::updateNode(), and octomap::OccupancyOcTreeBase< NODE >::updateNodeRecurs().
| void octomap::computeChildKey | ( | const unsigned int & | pos, |
| const unsigned short int & | center_offset_key, | ||
| const OcTreeKey & | parent_key, | ||
| OcTreeKey & | child_key | ||
| ) | [inline] |
Computes the key of a child node while traversing the octree, given child index and current key.
| [in] | pos | index of child node (0..7) |
| [in] | center_offset_key | constant offset of octree keys |
| [in] | parent_key | current (parent) key |
| [out] | child_key | computed child key |
Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), octomap::OccupancyOcTreeBase< NODE >::getOccupiedLeafsBBXRecurs(), leaf_bbx_iterator::singleIncrement(), and iterator_base::singleIncrement().
| OcTreeKey octomap::computeIndexKey | ( | unsigned short int | level, |
| const OcTreeKey & | key | ||
| ) | [inline] |
Generates a unique key for all keys on a certain level of the tree.
| level | from the bottom (= tree_depth - depth of key) |
| key | input indexing key (at lowest resolution / level) |
Referenced by iterator_base::getIndexKey().
| float octomap::logodds | ( | double | probability | ) | [inline] |
compute log-odds from probability:
Referenced by main(), octomap::AbstractOccupancyOcTree::setClampingThresMax(), octomap::AbstractOccupancyOcTree::setClampingThresMin(), octomap::AbstractOccupancyOcTree::setOccupancyThres(), octomap::AbstractOccupancyOcTree::setProbHit(), and octomap::AbstractOccupancyOcTree::setProbMiss().
| std::ostream & octomap::operator<< | ( | std::ostream & | out, |
| ColorOcTreeNode::Color const & | c | ||
| ) |
user friendly output in format (r g b)
References octomap::ColorOcTreeNode::Color::b, octomap::ColorOcTreeNode::Color::g, and octomap::ColorOcTreeNode::Color::r.
| double octomap::probability | ( | double | logodds | ) | [inline] |
compute probability from logodds:
Referenced by octomap::AbstractOccupancyOcTree::getClampingThresMax(), octomap::AbstractOccupancyOcTree::getClampingThresMin(), octomap::OcTreeNode::getOccupancy(), octomap::AbstractOccupancyOcTree::getOccupancyThres(), octomap::AbstractOccupancyOcTree::getProbHit(), octomap::AbstractOccupancyOcTree::getProbMiss(), and main().
1.7.4