Inheritance diagram for octomap::OcTreeBase< NODE >:

Collaboration diagram for octomap::OcTreeBase< NODE >:

Public Types
typedef leaf_iterator	iterator

typedef NODE	NodeType
	Make the templated NODE type available from the outside. More...

Public Member Functions
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const
	Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values) More...

key_type	adjustKeyAtDepth (key_type key, unsigned int depth) const
	Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value) More...

iterator	begin (unsigned char maxDepth=0) const

leaf_iterator	begin_leafs (unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const

tree_iterator	begin_tree (unsigned char maxDepth=0) const

size_t	calcNumNodes () const
	Traverses the tree to calculate the total number of nodes. More...

void	clear ()
	Deletes the complete tree structure. More...

void	clearKeyRays ()
	Clear KeyRay vector to minimize unneeded memory. More...

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)
	Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. More...

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const
	Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. More...

OcTreeKey	coordToKey (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

key_type	coordToKey (double coordinate) const
	Converts from a single coordinate into a discrete key. More...

key_type	coordToKey (double coordinate, unsigned depth) const
	Converts from a single coordinate into a discrete key at a given depth. More...

OcTreeKey	coordToKey (double x, double y, double z) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More...

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. More...

bool	coordToKeyChecked (double coordinate, key_type &key) const
	Converts a single coordinate into a discrete addressing key, with boundary checking. More...

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const
	Converts a single coordinate into a discrete addressing key, with boundary checking. More...

bool	coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More...

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const
	Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. More...

OcTreeBase< NODE > *	create () const
	virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler) More...

NODE *	createNodeChild (NODE *node, unsigned int childIdx)
	Creates (allocates) the i-th child of the node. More...

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)
	Delete a node (if exists) given an addressing key. More...

bool	deleteNode (const point3d &value, unsigned int depth=0)
	Delete a node (if exists) given a 3d point. More...

bool	deleteNode (double x, double y, double z, unsigned int depth=0)
	Delete a node (if exists) given a 3d point. More...

void	deleteNodeChild (NODE *node, unsigned int childIdx)
	Deletes the i-th child of the node. More...

const iterator	end () const

const leaf_iterator	end_leafs () const

const leaf_bbx_iterator	end_leafs_bbx () const

const tree_iterator	end_tree () const

virtual void	expand ()
	Expands all pruned nodes (reverse of prune()) More...

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

virtual void	getMetricMax (double &x, double &y, double &z)
	maximum value of the bounding box of all known space in x, y, z More...

void	getMetricMax (double &x, double &y, double &z) const
	maximum value of the bounding box of all known space in x, y, z More...

virtual void	getMetricMin (double &x, double &y, double &z)
	minimum value of the bounding box of all known space in x, y, z More...

void	getMetricMin (double &x, double &y, double &z) const
	minimum value of the bounding box of all known space in x, y, z More...

virtual void	getMetricSize (double &x, double &y, double &z)
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

virtual void	getMetricSize (double &x, double &y, double &z) const
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

const NODE *	getNodeChild (const NODE *node, unsigned int childIdx) const

NODE *	getNodeChild (NODE *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes. More...

double	getResolution () const

virtual double	getResolution () const =0

NODE *	getRoot () const

unsigned int	getTreeDepth () const

std::string	getTreeType () const
	returns actual class name as string for identification More...

std::string	getTreeType () const

void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const
	return centers of leafs that do NOT exist (but could) in a given bounding box More...

virtual bool	isNodeCollapsible (const NODE *node) const
	A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. More...

point3d	keyToCoord (const OcTreeKey &key) const
	converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center More...

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const
	converts from an addressing key at a given depth into a coordinate corresponding to the key's center More...

double	keyToCoord (key_type key) const
	converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center More...

double	keyToCoord (key_type key, unsigned depth) const
	converts from a discrete key at a given depth into a coordinate corresponding to the key's center More...

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsage () const =0

virtual size_t	memoryUsageNode () const

virtual size_t	memoryUsageNode () const =0

bool	nodeChildExists (const NODE *node, unsigned int childIdx) const
	Safe test if node has a child at index childIdx. More...

bool	nodeHasChildren (const NODE *node) const
	Safe test if node has any children. More...

	OcTreeBase (double res)

bool	operator== (const OcTreeBaseImpl< NODE, AbstractOcTree > &rhs) const
	Comparison between two octrees, all meta data, all nodes, and the structure must be identical. More...

virtual void	prune ()
	Lossless compression of the octree: A node will replace all of its eight children if they have identical values. More...

virtual bool	pruneNode (NODE *node)
	Prunes a node when it is collapsible. More...

std::istream &	readData (std::istream &s)
	Read all nodes from the input stream (without file header), for this the tree needs to be already created. More...

NODE *	search (const OcTreeKey &key, unsigned int depth=0) const
	Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space. More...

NODE *	search (const point3d &value, unsigned int depth=0) const
	Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space. More...

NODE *	search (double x, double y, double z, unsigned int depth=0) const
	Search node at specified depth given a 3d point (depth=0: search full tree depth). More...

void	setResolution (double r)
	Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale! More...

virtual size_t	size () const

virtual size_t	size () const =0

void	swapContent (OcTreeBaseImpl< NODE, AbstractOcTree > &rhs)
	Swap contents of two octrees, i.e., only the underlying pointer / tree structure. More...

double	volume ()

bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization) More...

bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization) More...

std::ostream &	writeData (std::ostream &s) const
	Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression) More...

Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
	Creates a certain OcTree (factory pattern) More...

static AbstractOcTree *	read (const std::string &filename)
	Read the file header, create the appropriate class and deserialize. More...

static AbstractOcTree *	read (std::istream &s)
	Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself. More...

Protected Member Functions
void	allocNodeChildren (NODE *node)

void	calcMinMax ()
	recalculates min and max in x, y, z. Does nothing when tree size didn't change. More...

void	calcNumNodesRecurs (NODE *node, size_t &num_nodes) const

void	deleteNodeRecurs (NODE *node)
	Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size. More...

bool	deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
	recursive call of deleteNode() More...

void	expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth)
	recursive call of expand() More...

size_t	getNumLeafNodesRecurs (const NODE *parent) const

void	init ()
	initialize non-trivial members, helper for constructors More...

void	pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune() More...

std::istream &	readNodesRecurs (NODE *, std::istream &s)
	recursive call of readData() More...

std::ostream &	writeNodesRecurs (const NODE *, std::ostream &s) const
	recursive call of writeData() More...

Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)

static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes
std::vector< KeyRay >	keyrays
	data structure for ray casting, array for multithreading More...

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]
	max in x, y, z More...

double	min_value [3]
	min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More...

double	resolution
	in meters More...

double	resolution_factor
	= 1. / resolution More...

NODE *	root
	Pointer to the root NODE, NULL for empty tree. More...

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth
	Maximum tree depth is fixed to 16 currently. More...

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size
	number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval) More...

Static Protected Attributes
static const std::string	fileHeader = "# Octomap OcTree file"

Member Typedef Documentation

◆ iterator

typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::iterator

inherited

◆ NodeType

typedef NODE octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::NodeType

inherited

Make the templated NODE type available from the outside.

Constructor & Destructor Documentation

◆ OcTreeBase()

template<class NODE >

octomap::OcTreeBase< NODE >::OcTreeBase ( double res )

inline

Member Function Documentation

◆ adjustKeyAtDepth() [1/2]

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::adjustKeyAtDepth	(	const OcTreeKey &	key,
		unsigned int	depth
	)		const

inlineinherited

Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)

Parameters

key	Input key, at the lowest tree level
depth	Target depth level for the new key

Returns: Key for the new depth level

◆ adjustKeyAtDepth() [2/2]

key_type octomap::OcTreeBaseImpl< NODE, I >::adjustKeyAtDepth	(	key_type	key,
		unsigned int	depth
	)		const

inherited

Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)

Parameters

key	Input key, at the lowest tree level
depth	Target depth level for the new key

Returns: Key for the new depth level

◆ allocNodeChildren()

void octomap::OcTreeBaseImpl< NODE, I >::allocNodeChildren ( NODE * node )

protectedinherited

◆ begin()

iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::begin ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns: beginning of the tree as leaf iterator

◆ begin_leafs()

leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::begin_leafs ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns: beginning of the tree as leaf iterator

◆ begin_leafs_bbx() [1/2]

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::begin_leafs_bbx	(	const OcTreeKey &	min,
		const OcTreeKey &	max,
		unsigned char	maxDepth = `0`
	)		const

inlineinherited

Returns: beginning of the tree as leaf iterator in a bounding box

◆ begin_leafs_bbx() [2/2]

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::begin_leafs_bbx	(	const point3d &	min,
		const point3d &	max,
		unsigned char	maxDepth = `0`
	)		const

inlineinherited

Returns: beginning of the tree as leaf iterator in a bounding box

◆ begin_tree()

tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::begin_tree ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns: beginning of the tree as iterator to all nodes (incl. inner)

◆ calcMinMax()

void octomap::OcTreeBaseImpl< NODE, I >::calcMinMax

protectedinherited

recalculates min and max in x, y, z. Does nothing when tree size didn't change.

◆ calcNumNodes()

size_t octomap::OcTreeBaseImpl< NODE, I >::calcNumNodes

inherited

Traverses the tree to calculate the total number of nodes.

◆ calcNumNodesRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::calcNumNodesRecurs	(	NODE *	node,
		size_t &	num_nodes
	)		const

protectedinherited

◆ clear()

void octomap::OcTreeBaseImpl< NODE, I >::clear

virtualinherited

Deletes the complete tree structure.

Implements octomap::AbstractOcTree.

◆ clearKeyRays()

void octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::clearKeyRays

inlineinherited

Clear KeyRay vector to minimize unneeded memory.

This is only useful for the StaticMemberInitializer classes, don't call it for an octree that is actually used.

◆ computeRay()

bool octomap::OcTreeBaseImpl< NODE, I >::computeRay	(	const point3d &	origin,
		const point3d &	end,
		std::vector< point3d > &	ray
	)

inherited

Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.

You still need to check if a node at that coordinate exists (e.g. with search()).

Note: : use the faster computeRayKeys method if possible.

Parameters

origin	start coordinate of ray
end	end coordinate of ray
ray	KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"

Returns: Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range

◆ computeRayKeys()

bool octomap::OcTreeBaseImpl< NODE, I >::computeRayKeys	(	const point3d &	origin,
		const point3d &	end,
		KeyRay &	ray
	)		const

inherited

Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.

You still need to check if a node at that coordinate exists (e.g. with search()).

Parameters

origin	start coordinate of ray
end	end coordinate of ray
ray	KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"

Returns: Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range

◆ coordToKey() [1/6]

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::coordToKey ( const point3d & coord ) const

inlineinherited

Converts from a 3D coordinate into a 3D addressing key.

◆ coordToKey() [2/6]

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::coordToKey	(	const point3d &	coord,
		unsigned	depth
	)		const

inlineinherited

Converts from a 3D coordinate into a 3D addressing key at a given depth.

◆ coordToKey() [3/6]

key_type octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::coordToKey ( double coordinate ) const

inlineinherited

Converts from a single coordinate into a discrete key.

◆ coordToKey() [4/6]

key_type octomap::OcTreeBaseImpl< NODE, I >::coordToKey	(	double	coordinate,
		unsigned	depth
	)		const

inlineinherited

Converts from a single coordinate into a discrete key at a given depth.

◆ coordToKey() [5/6]

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::coordToKey	(	double	x,
		double	y,
		double	z
	)		const

inlineinherited

Converts from a 3D coordinate into a 3D addressing key.

◆ coordToKey() [6/6]

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::coordToKey	(	double	x,
		double	y,
		double	z,
		unsigned	depth
	)		const

inlineinherited

Converts from a 3D coordinate into a 3D addressing key at a given depth.

◆ coordToKeyChecked() [1/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	const point3d &	coord,
		OcTreeKey &	key
	)		const

inherited

Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.

Parameters

coord	3d coordinate of a point
key	values that will be computed, an array of fixed size 3.

Returns: true if point is within the octree (valid), false otherwise

◆ coordToKeyChecked() [2/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	const point3d &	coord,
		unsigned	depth,
		OcTreeKey &	key
	)		const

inherited

Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.

Parameters

coord	3d coordinate of a point
depth	level of the key from the top
key	values that will be computed, an array of fixed size 3.

Returns: true if point is within the octree (valid), false otherwise

◆ coordToKeyChecked() [3/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	coordinate,
		key_type &	key
	)		const

inherited

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters

coordinate	3d coordinate of a point
key	discrete 16 bit adressing key, result

Returns: true if coordinate is within the octree bounds (valid), false otherwise

◆ coordToKeyChecked() [4/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	coordinate,
		unsigned	depth,
		key_type &	key
	)		const

inherited

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters

coordinate	3d coordinate of a point
depth	level of the key from the top
key	discrete 16 bit adressing key, result

Returns: true if coordinate is within the octree bounds (valid), false otherwise

◆ coordToKeyChecked() [5/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	x,
		double	y,
		double	z,
		OcTreeKey &	key
	)		const

inherited

Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.

Parameters

x
y
z
key	values that will be computed, an array of fixed size 3.

Returns: true if point is within the octree (valid), false otherwise

◆ coordToKeyChecked() [6/6]

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked	(	double	x,
		double	y,
		double	z,
		unsigned	depth,
		OcTreeKey &	key
	)		const

inherited

Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.

Parameters

x
y
z
depth	level of the key from the top
key	values that will be computed, an array of fixed size 3.

Returns: true if point is within the octree (valid), false otherwise

◆ create()

template<class NODE >

OcTreeBase<NODE>* octomap::OcTreeBase< NODE >::create ( ) const

inlinevirtual

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

Implements octomap::AbstractOcTree.

◆ createNodeChild()

NODE * octomap::OcTreeBaseImpl< NODE, I >::createNodeChild	(	NODE *	node,
		unsigned int	childIdx
	)

inherited

Creates (allocates) the i-th child of the node.

Returns: ptr to newly create NODE

◆ createTree()

AbstractOcTree * octomap::AbstractOcTree::createTree	(	const std::string	id,
		double	res
	)

staticinherited

Creates a certain OcTree (factory pattern)

Parameters

id	unique ID of OcTree
res	resolution of OcTree

Returns: pointer to newly created OcTree (empty). NULL if the ID is unknown!

References OCTOMAP_ERROR, and octomap::AbstractOcTree::setResolution().

Referenced by octomap::AbstractOcTree::read().

◆ deleteNode() [1/3]

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	const OcTreeKey &	key,
		unsigned int	depth = `0`
	)

inherited

Delete a node (if exists) given an addressing key.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

◆ deleteNode() [2/3]

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	const point3d &	value,
		unsigned int	depth = `0`
	)

inherited

Delete a node (if exists) given a 3d point.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

◆ deleteNode() [3/3]

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode	(	double	x,
		double	y,
		double	z,
		unsigned int	depth = `0`
	)

inherited

Delete a node (if exists) given a 3d point.

Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

◆ deleteNodeChild()

void octomap::OcTreeBaseImpl< NODE, I >::deleteNodeChild	(	NODE *	node,
		unsigned int	childIdx
	)

inherited

Deletes the i-th child of the node.

◆ deleteNodeRecurs() [1/2]

void octomap::OcTreeBaseImpl< NODE, I >::deleteNodeRecurs ( NODE * node )

protectedinherited

Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size.

◆ deleteNodeRecurs() [2/2]

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNodeRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		const OcTreeKey &	key
	)

protectedinherited

recursive call of deleteNode()

◆ end()

const iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::end

inlineinherited

Returns: end of the tree as leaf iterator

◆ end_leafs()

const leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::end_leafs

inlineinherited

Returns: end of the tree as leaf iterator

◆ end_leafs_bbx()

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::end_leafs_bbx

inlineinherited

Returns: end of the tree as leaf iterator in a bounding box

◆ end_tree()

const tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::end_tree

inlineinherited

Returns: end of the tree as iterator to all nodes (incl. inner)

◆ expand()

void octomap::OcTreeBaseImpl< NODE, I >::expand

virtualinherited

Expands all pruned nodes (reverse of prune())

Note: This is an expensive operation, especially when the tree is nearly empty!

Implements octomap::AbstractOcTree.

◆ expandNode()

void octomap::OcTreeBaseImpl< NODE, I >::expandNode ( NODE * node )

virtualinherited

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)

◆ expandRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::expandRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth
	)

protectedinherited

recursive call of expand()

◆ getMetricMax() [1/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)

virtualinherited

maximum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

◆ getMetricMax() [2/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const

virtualinherited

maximum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

◆ getMetricMin() [1/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)

virtualinherited

minimum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

◆ getMetricMin() [2/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const

virtualinherited

minimum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

◆ getMetricSize() [1/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)

virtualinherited

Size of OcTree (all known space) in meters for x, y and z dimension.

Implements octomap::AbstractOcTree.

◆ getMetricSize() [2/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		const

virtualinherited

Size of OcTree (all known space) in meters for x, y and z dimension.

◆ getNodeChild() [1/2]

const NODE * octomap::OcTreeBaseImpl< NODE, I >::getNodeChild	(	const NODE *	node,
		unsigned int	childIdx
	)		const

inherited

Returns: const ptr to child number childIdx of node

◆ getNodeChild() [2/2]

NODE * octomap::OcTreeBaseImpl< NODE, I >::getNodeChild	(	NODE *	node,
		unsigned int	childIdx
	)		const

inherited

Returns: ptr to child number childIdx of node

◆ getNodeSize()

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::getNodeSize ( unsigned depth ) const

inlineinherited

◆ getNumLeafNodes()

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodes

inherited

Traverses the tree to calculate the total number of leaf nodes.

◆ getNumLeafNodesRecurs()

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodesRecurs ( const NODE * parent ) const

protectedinherited

◆ getResolution() [1/2]

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::getResolution

inlineinherited

◆ getResolution() [2/2]

virtual double octomap::AbstractOcTree::getResolution ( ) const

pure virtualinherited

Referenced by main(), octomap::AbstractOcTree::write(), and octomap::AbstractOccupancyOcTree::writeBinaryConst().

◆ getRoot()

NODE* octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::getRoot

inlineinherited

Returns: Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself. In an empty tree, root is NULL.

◆ getTreeDepth()

unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::getTreeDepth

inlineinherited

◆ getTreeType() [1/2]

template<class NODE >

std::string octomap::OcTreeBase< NODE >::getTreeType ( ) const

inlinevirtual

returns actual class name as string for identification

Implements octomap::AbstractOcTree.

◆ getTreeType() [2/2]

std::string octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::getTreeType

inlineinherited

◆ getUnknownLeafCenters()

void octomap::OcTreeBaseImpl< NODE, I >::getUnknownLeafCenters	(	point3d_list &	node_centers,
		point3d	pmin,
		point3d	pmax,
		unsigned int	depth = `0`
	)		const

inherited

return centers of leafs that do NOT exist (but could) in a given bounding box

◆ init()

void octomap::OcTreeBaseImpl< NODE, I >::init

protectedinherited

initialize non-trivial members, helper for constructors

◆ isNodeCollapsible()

bool octomap::OcTreeBaseImpl< NODE, I >::isNodeCollapsible ( const NODE * node ) const

virtualinherited

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

◆ keyToCoord() [1/4]

point3d octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::keyToCoord ( const OcTreeKey & key ) const

inlineinherited

converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center

◆ keyToCoord() [2/4]

point3d octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::keyToCoord	(	const OcTreeKey &	key,
		unsigned	depth
	)		const

inlineinherited

converts from an addressing key at a given depth into a coordinate corresponding to the key's center

◆ keyToCoord() [3/4]

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::keyToCoord ( key_type key ) const

inlineinherited

converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center

◆ keyToCoord() [4/4]

double octomap::OcTreeBaseImpl< NODE, I >::keyToCoord	(	key_type	key,
		unsigned	depth
	)		const

inherited

converts from a discrete key at a given depth into a coordinate corresponding to the key's center

◆ memoryFullGrid()

unsigned long long octomap::OcTreeBaseImpl< NODE, I >::memoryFullGrid

inherited

Returns: Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)

Note: this can be larger than the adressable memory - size_t may not be enough to hold it!

◆ memoryUsage() [1/2]

size_t octomap::OcTreeBaseImpl< NODE, I >::memoryUsage

virtualinherited

Returns: Memory usage of the complete octree in bytes (may vary between architectures)

◆ memoryUsage() [2/2]

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const

pure virtualinherited

◆ memoryUsageNode() [1/2]

virtual size_t octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::memoryUsageNode

inlinevirtualinherited

Returns: Memory usage of a single octree node

◆ memoryUsageNode() [2/2]

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const

pure virtualinherited

◆ nodeChildExists()

bool octomap::OcTreeBaseImpl< NODE, I >::nodeChildExists	(	const NODE *	node,
		unsigned int	childIdx
	)		const

inherited

Safe test if node has a child at index childIdx.

First tests if there are any children. Replaces node->childExists(...)

Returns: true if the child at childIdx exists

◆ nodeHasChildren()

bool octomap::OcTreeBaseImpl< NODE, I >::nodeHasChildren ( const NODE * node ) const

inherited

Safe test if node has any children.

Replaces node->hasChildren(...)

Returns: true if node has at least one child

◆ operator==()

bool octomap::OcTreeBaseImpl< NODE, I >::operator== ( const OcTreeBaseImpl< NODE, AbstractOcTree > & rhs ) const

inherited

Comparison between two octrees, all meta data, all nodes, and the structure must be identical.

◆ prune()

void octomap::OcTreeBaseImpl< NODE, I >::prune

virtualinherited

Lossless compression of the octree: A node will replace all of its eight children if they have identical values.

You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.

Implements octomap::AbstractOcTree.

◆ pruneNode()

bool octomap::OcTreeBaseImpl< NODE, I >::pruneNode ( NODE * node )

virtualinherited

Prunes a node when it is collapsible.

Returns: true if pruning was successful

◆ pruneRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::pruneRecurs	(	NODE *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		unsigned int &	num_pruned
	)

protectedinherited

recursive call of prune()

◆ read() [1/2]

AbstractOcTree * octomap::AbstractOcTree::read ( const std::string & filename )

staticinherited

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

AbstractOcTree* tree = AbstractOcTree::read("filename.ot");

OcTree* octree = dynamic_cast<OcTree*>(tree);

References OCTOMAP_ERROR_STR.

◆ read() [2/2]

AbstractOcTree * octomap::AbstractOcTree::read ( std::istream & s )

staticinherited

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself.

References octomap::AbstractOcTree::createTree(), octomap::AbstractOcTree::fileHeader, OCTOMAP_DEBUG_STR, OCTOMAP_ERROR_STR, octomap::AbstractOcTree::readData(), octomap::AbstractOcTree::readHeader(), and octomap::AbstractOcTree::size().

◆ readData()

std::istream & octomap::OcTreeBaseImpl< NODE, I >::readData ( std::istream & s )

virtualinherited

Read all nodes from the input stream (without file header), for this the tree needs to be already created.

For general file IO, you should probably use AbstractOcTree::read() instead.

Implements octomap::AbstractOcTree.

◆ readHeader()

bool octomap::AbstractOcTree::readHeader	(	std::istream &	s,
		std::string &	id,
		unsigned &	size,
		double &	res
	)

staticprotectedinherited

References OCTOMAP_ERROR_STR, OCTOMAP_WARNING, OCTOMAP_WARNING_STR, and octomap::AbstractOcTree::size().

Referenced by octomap::AbstractOcTree::read(), and octomap::AbstractOccupancyOcTree::readBinary().

◆ readNodesRecurs()

std::istream & octomap::OcTreeBaseImpl< NODE, I >::readNodesRecurs	(	NODE *	node,
		std::istream &	s
	)

protectedinherited

recursive call of readData()

◆ registerTreeType()

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree * tree )

staticprotectedinherited

References octomap::AbstractOcTree::getTreeType().

Referenced by octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer(), and octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer().

◆ search() [1/3]

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	const OcTreeKey &	key,
		unsigned int	depth = `0`
	)		const

inherited

Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.

Returns: pointer to node if found, NULL otherwise

◆ search() [2/3]

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	const point3d &	value,
		unsigned int	depth = `0`
	)		const

inherited

Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.

Returns: pointer to node if found, NULL otherwise

◆ search() [3/3]

NODE * octomap::OcTreeBaseImpl< NODE, I >::search	(	double	x,
		double	y,
		double	z,
		unsigned int	depth = `0`
	)		const

inherited

Search node at specified depth given a 3d point (depth=0: search full tree depth).

You need to check if the returned node is NULL, since it can be in unknown space.

Returns: pointer to node if found, NULL otherwise

◆ setResolution()

void octomap::OcTreeBaseImpl< NODE, I >::setResolution ( double r )

virtualinherited

Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!

Implements octomap::AbstractOcTree.

◆ size() [1/2]

virtual size_t octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::size

inlinevirtualinherited

Returns: The number of nodes in the tree

◆ size() [2/2]

virtual size_t octomap::AbstractOcTree::size ( ) const

pure virtualinherited

Referenced by main(), octomap::AbstractOcTree::read(), octomap::AbstractOccupancyOcTree::readBinary(), octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader(), octomap::AbstractOcTree::readHeader(), octomap::AbstractOcTree::write(), and octomap::AbstractOccupancyOcTree::writeBinaryConst().

◆ swapContent()

void octomap::OcTreeBaseImpl< NODE, I >::swapContent ( OcTreeBaseImpl< NODE, AbstractOcTree > & rhs )

inherited

Swap contents of two octrees, i.e., only the underlying pointer / tree structure.

You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function

◆ volume()

double octomap::OcTreeBaseImpl< NODE, I >::volume

inherited

◆ write() [1/2]

bool octomap::AbstractOcTree::write ( const std::string & filename ) const

inherited

Write file header and complete tree to file (serialization)

References OCTOMAP_ERROR_STR.

Referenced by main().

◆ write() [2/2]

bool octomap::AbstractOcTree::write ( std::ostream & s ) const

inherited

Write file header and complete tree to stream (serialization)

References octomap::AbstractOcTree::fileHeader, octomap::AbstractOcTree::getResolution(), octomap::AbstractOcTree::getTreeType(), octomap::AbstractOcTree::size(), and octomap::AbstractOcTree::writeData().

◆ writeData()

std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeData ( std::ostream & s ) const

virtualinherited

Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)

Implements octomap::AbstractOcTree.

◆ writeNodesRecurs()

std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeNodesRecurs	(	const NODE *	node,
		std::ostream &	s
	)		const

protectedinherited

recursive call of writeData()

Field Documentation

◆ fileHeader

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file"

staticprotectedinherited

Referenced by octomap::AbstractOcTree::read(), and octomap::AbstractOcTree::write().

◆ keyrays

std::vector<KeyRay> octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::keyrays

protectedinherited

data structure for ray casting, array for multithreading

◆ leaf_iterator_bbx_end

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::leaf_iterator_bbx_end

protectedinherited

◆ leaf_iterator_end

const leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::leaf_iterator_end

protectedinherited

◆ max_value

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::max_value[3]

protectedinherited

max in x, y, z

◆ min_value

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::min_value[3]

protectedinherited

min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)

◆ resolution

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::resolution

protectedinherited

in meters

◆ resolution_factor

double octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::resolution_factor

protectedinherited

= 1. / resolution

◆ root

NODE* octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::root

protectedinherited

Pointer to the root NODE, NULL for empty tree.

◆ size_changed

bool octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::size_changed

protectedinherited

◆ sizeLookupTable

std::vector<double> octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::sizeLookupTable

protectedinherited

◆ tree_center

point3d octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::tree_center

protectedinherited

◆ tree_depth

const unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::tree_depth

protectedinherited

Maximum tree depth is fixed to 16 currently.

◆ tree_iterator_end

const tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::tree_iterator_end

protectedinherited

◆ tree_max_val

const unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::tree_max_val

protectedinherited

◆ tree_size

size_t octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::tree_size

protectedinherited

number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval)

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

include/octomap/OcTreeBase.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Typedef Documentation

◆ iterator

◆ NodeType

Constructor & Destructor Documentation

◆ OcTreeBase()

Member Function Documentation

◆ adjustKeyAtDepth() [1/2]

◆ adjustKeyAtDepth() [2/2]

◆ allocNodeChildren()

◆ begin()

◆ begin_leafs()

◆ begin_leafs_bbx() [1/2]

◆ begin_leafs_bbx() [2/2]

◆ begin_tree()

◆ calcMinMax()

◆ calcNumNodes()

◆ calcNumNodesRecurs()

◆ clear()

◆ clearKeyRays()

◆ computeRay()

◆ computeRayKeys()

◆ coordToKey() [1/6]

◆ coordToKey() [2/6]

◆ coordToKey() [3/6]

◆ coordToKey() [4/6]

◆ coordToKey() [5/6]

◆ coordToKey() [6/6]

◆ coordToKeyChecked() [1/6]

◆ coordToKeyChecked() [2/6]

◆ coordToKeyChecked() [3/6]

◆ coordToKeyChecked() [4/6]

◆ coordToKeyChecked() [5/6]

◆ coordToKeyChecked() [6/6]

◆ create()

◆ createNodeChild()

◆ createTree()

◆ deleteNode() [1/3]

◆ deleteNode() [2/3]

◆ deleteNode() [3/3]

◆ deleteNodeChild()

◆ deleteNodeRecurs() [1/2]

◆ deleteNodeRecurs() [2/2]

◆ end()

◆ end_leafs()

◆ end_leafs_bbx()

◆ end_tree()

◆ expand()

◆ expandNode()

◆ expandRecurs()

◆ getMetricMax() [1/2]

◆ getMetricMax() [2/2]

◆ getMetricMin() [1/2]

◆ getMetricMin() [2/2]

◆ getMetricSize() [1/2]

◆ getMetricSize() [2/2]

◆ getNodeChild() [1/2]

◆ getNodeChild() [2/2]

◆ getNodeSize()

◆ getNumLeafNodes()

◆ getNumLeafNodesRecurs()

◆ getResolution() [1/2]

◆ getResolution() [2/2]

◆ getRoot()

◆ getTreeDepth()

◆ getTreeType() [1/2]

◆ getTreeType() [2/2]

◆ getUnknownLeafCenters()

◆ init()

◆ isNodeCollapsible()

◆ keyToCoord() [1/4]

◆ keyToCoord() [2/4]

◆ keyToCoord() [3/4]

◆ keyToCoord() [4/4]