Nodes to be used in OcTree. More...

Inheritance diagram for octomap::OcTreeNode:

Collaboration diagram for octomap::OcTreeNode:

Public Types
typedef float	DataType
	Make the templated data type available from the outside. More...

Public Member Functions
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!) More...

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...

float	getLogOdds () const

float	getMaxChildLogOdds () const

double	getMeanChildLogOdds () const

double	getOccupancy () const

float	getValue () const

	OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const)
	Test whether the i-th child exists. More...

	OCTOMAP_DEPRECATED (bool hasChildren() const)

	OcTreeNode ()

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	setLogOdds (float l)
	sets log odds occupancy of node More...

void	setValue (float v)
	sets value to be stored in the node More...

void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy More...

std::ostream &	writeData (std::ostream &s) const
	Write node payload (data only) to binary stream. More...

	~OcTreeNode ()

Protected Member Functions
void	allocChildren ()

Protected Attributes
AbstractOcTreeNode **	children
	pointer to array of children, may be NULL More...

float	value
	stored data (payload) More...

Detailed Description

Nodes to be used in OcTree.

They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.

Note: If you derive a class (directly or indirectly) from OcTreeNode or OcTreeDataNode, you have to implement (at least) the following functions: createChild(), getChild(), getChild() const, expandNode() to avoid slicing errors and memory-related bugs. See ColorOcTreeNode in ColorOcTree.h for an example.

Member Typedef Documentation

◆ DataType

typedef float octomap::OcTreeDataNode< float >::DataType

inherited

Make the templated data type available from the outside.

Constructor & Destructor Documentation

◆ OcTreeNode()

octomap::OcTreeNode::OcTreeNode ( )

◆ ~OcTreeNode()

octomap::OcTreeNode::~OcTreeNode ( )

Member Function Documentation

◆ addValue()

void octomap::OcTreeNode::addValue ( const float & p )

adds p to the node's logOdds value (with no boundary / threshold checking!)

References octomap::OcTreeDataNode< float >::value.

◆ allocChildren()

void octomap::OcTreeDataNode< float >::allocChildren

protectedinherited

◆ copyData()

void octomap::OcTreeDataNode< float >::copyData ( const OcTreeDataNode< float > & from )

inherited

Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well.

◆ getLogOdds()

float octomap::OcTreeNode::getLogOdds ( ) const

inline

Returns: log odds representation of occupancy probability of node

References octomap::OcTreeDataNode< float >::value.

Referenced by getMaxChildLogOdds(), octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), and main().

◆ getMaxChildLogOdds()

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

Returns: maximum of children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::children, and getLogOdds().

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and updateOccupancyChildren().

◆ getMeanChildLogOdds()

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

Returns: mean of all children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::children, and getOccupancy().

◆ getOccupancy()

double octomap::OcTreeNode::getOccupancy ( ) const

inline

Returns: occupancy probability of node

References octomap::probability(), and octomap::OcTreeDataNode< float >::value.

Referenced by getMeanChildLogOdds(), octomap::ColorOcTree::integrateNodeColor(), main(), and print_query_info().

◆ getValue()

float octomap::OcTreeDataNode< float >::getValue ( ) const

inlineinherited

Returns: value stored in the node

◆ OCTOMAP_DEPRECATED() [1/2]

octomap::OcTreeDataNode< float >::OCTOMAP_DEPRECATED ( bool childExists(unsigned int i) const )

inherited

Test whether the i-th child exists.

Returns: true if the i-th child exists

◆ OCTOMAP_DEPRECATED() [2/2]

octomap::OcTreeDataNode< float >::OCTOMAP_DEPRECATED ( bool hasChildren() const )

inherited

Returns: true if the node has at least one child

◆ operator==()

bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > & rhs ) const

inherited

Equals operator, compares if the stored value is identical.

◆ readData()

std::istream & octomap::OcTreeDataNode< float >::readData ( std::istream & s )

inherited

Read node payload (data only) from binary stream.

◆ setLogOdds()

void octomap::OcTreeNode::setLogOdds ( float l )

inline

sets log odds occupancy of node

References octomap::OcTreeDataNode< float >::value.

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and updateOccupancyChildren().

◆ setValue()

void octomap::OcTreeDataNode< float >::setValue ( T v )

inlineinherited

sets value to be stored in the node

◆ updateOccupancyChildren()

void octomap::OcTreeNode::updateOccupancyChildren ( )

inline

update this node's occupancy according to its children's maximum occupancy

References getMaxChildLogOdds(), and setLogOdds().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

◆ writeData()

std::ostream & octomap::OcTreeDataNode< float >::writeData ( std::ostream & s ) const

inherited

Write node payload (data only) to binary stream.

Field Documentation

◆ children

AbstractOcTreeNode** octomap::OcTreeDataNode< float >::children

protectedinherited

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

◆ value

float octomap::OcTreeDataNode< float >::value

protectedinherited

stored data (payload)

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

include/octomap/OcTreeNode.h
src/OcTreeNode.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DataType

Constructor & Destructor Documentation

◆ OcTreeNode()

◆ ~OcTreeNode()

Member Function Documentation

◆ addValue()

◆ allocChildren()

◆ copyData()

◆ getLogOdds()

◆ getMaxChildLogOdds()

◆ getMeanChildLogOdds()

◆ getOccupancy()

◆ getValue()

◆ OCTOMAP_DEPRECATED() [1/2]

◆ OCTOMAP_DEPRECATED() [2/2]

◆ operator==()

◆ readData()

◆ setLogOdds()

◆ setValue()

◆ updateOccupancyChildren()

◆ writeData()

Field Documentation

◆ children

◆ value