Basic node in the OcTree that can hold arbitrary data of type T in value. More...
Inheritance diagram for octomap::OcTreeDataNode< T >:
Collaboration diagram for octomap::OcTreeDataNode< T >:
Public Types | |
| typedef T | DataType |
| Make the templated data type available from the outside. More... | |
Public Member Functions | |
| void | copyData (const OcTreeDataNode &from) |
| Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well. More... | |
| T | getValue () const |
| OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const) | |
| Test whether the i-th child exists. More... | |
| OCTOMAP_DEPRECATED (bool hasChildren() const) | |
| OcTreeDataNode () | |
| OcTreeDataNode (const OcTreeDataNode &rhs) | |
| Copy constructor, performs a recursive deep-copy of all children including node data in "value". More... | |
| OcTreeDataNode (T initVal) | |
| bool | operator== (const OcTreeDataNode &rhs) const |
| Equals operator, compares if the stored value is identical. More... | |
| std::istream & | readData (std::istream &s) |
| Read node payload (data only) from binary stream. More... | |
| void | setValue (T v) |
| sets value to be stored in the node More... | |
| std::ostream & | writeData (std::ostream &s) const |
| Write node payload (data only) to binary stream. More... | |
| ~OcTreeDataNode () | |
| Delete only own members. OcTree maintains tree structure and must have deleted children already. More... | |
Protected Member Functions | |
| void | allocChildren () |
Protected Attributes | |
| AbstractOcTreeNode ** | children |
| pointer to array of children, may be NULL More... | |
| T | value |
| stored data (payload) More... | |
Friends | |
| template<typename NODE , typename I > | |
| class | OcTreeBaseImpl |
Detailed Description
template<typename T>
class octomap::OcTreeDataNode< T >
Basic node in the OcTree that can hold arbitrary data of type T in value.
This is the base class for nodes used in an OcTree. The used implementation for occupancy mapping is in OcTreeNode.#
- Template Parameters
-
T data to be stored in the node (e.g. a float for probabilities)
Note: If you derive a class (directly or indirectly) from OcTreeDataNode, you have to implement (at least) the following functions to avoid slicing errors and memory-related bugs: createChild(), getChild(), getChild() const, expandNode() See ColorOcTreeNode in ColorOcTree.h for an example.
Member Typedef Documentation
◆ DataType
| typedef T octomap::OcTreeDataNode< T >::DataType |
Make the templated data type available from the outside.
Constructor & Destructor Documentation
◆ OcTreeDataNode() [1/3]
| octomap::OcTreeDataNode< T >::OcTreeDataNode |
◆ OcTreeDataNode() [2/3]
| octomap::OcTreeDataNode< T >::OcTreeDataNode | ( | T | initVal | ) |
◆ OcTreeDataNode() [3/3]
| octomap::OcTreeDataNode< T >::OcTreeDataNode | ( | const OcTreeDataNode< T > & | rhs | ) |
Copy constructor, performs a recursive deep-copy of all children including node data in "value".
◆ ~OcTreeDataNode()
| octomap::OcTreeDataNode< T >::~OcTreeDataNode |
Delete only own members. OcTree maintains tree structure and must have deleted children already.
Member Function Documentation
◆ allocChildren()
|
protected |
◆ copyData()
| void octomap::OcTreeDataNode< T >::copyData | ( | const OcTreeDataNode< T > & | from | ) |
Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well.
◆ getValue()
|
inline |
- Returns
- value stored in the node
Referenced by octomap::ColorOcTree::isNodeCollapsible().
◆ OCTOMAP_DEPRECATED() [1/2]
| octomap::OcTreeDataNode< T >::OCTOMAP_DEPRECATED | ( | bool childExists(unsigned int i) const | ) |
Test whether the i-th child exists.
- Returns
- true if the i-th child exists
◆ OCTOMAP_DEPRECATED() [2/2]
| octomap::OcTreeDataNode< T >::OCTOMAP_DEPRECATED | ( | bool hasChildren() const | ) |
- Returns
- true if the node has at least one child
◆ operator==()
| bool octomap::OcTreeDataNode< T >::operator== | ( | const OcTreeDataNode< T > & | rhs | ) | const |
Equals operator, compares if the stored value is identical.
◆ readData()
| std::istream & octomap::OcTreeDataNode< T >::readData | ( | std::istream & | s | ) |
Read node payload (data only) from binary stream.
◆ setValue()
|
inline |
sets value to be stored in the node
Referenced by main().
◆ writeData()
| std::ostream & octomap::OcTreeDataNode< T >::writeData | ( | std::ostream & | s | ) | const |
Write node payload (data only) to binary stream.
Friends And Related Function Documentation
◆ OcTreeBaseImpl
Field Documentation
◆ children
|
protected |
pointer to array of children, may be NULL
- Note
- The tree class manages this pointer, the array, and the memory for it! The children of a node are always enforced to be the same type as the node
Referenced by octomap::OcTreeDataNode< unsigned int >::OcTreeDataNode(), and octomap::ColorOcTree::pruneNode().
◆ value
|
protected |
stored data (payload)
Referenced by octomap::OcTreeDataNode< unsigned int >::copyData(), octomap::OcTreeDataNode< unsigned int >::getValue(), octomap::OcTreeNodeStamped::operator==(), octomap::ColorOcTreeNode::operator==(), octomap::OcTreeDataNode< unsigned int >::operator==(), and octomap::OcTreeDataNode< unsigned int >::setValue().
The documentation for this class was generated from the following files:
- include/octomap/OcTreeDataNode.h
- include/octomap/OcTreeDataNode.hxx
