Bounding-box leaf iterator. More...

Inheritance diagram for leaf_bbx_iterator:

Collaboration diagram for leaf_bbx_iterator:

Public Member Functions
point3d	getCoordinate () const
	return the center coordinate of the current node More...

unsigned	getDepth () const
	return depth of the current node More...

OcTreeKey	getIndexKey () const

const OcTreeKey &	getKey () const

double	getSize () const

double	getX () const

double	getY () const

double	getZ () const

	leaf_bbx_iterator ()

	leaf_bbx_iterator (const leaf_bbx_iterator &other)

	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *ptree, const OcTreeKey &min, const OcTreeKey &max, uint8_t depth=0)
	Constructor of the iterator. More...

	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *ptree, const point3d &min, const point3d &max, uint8_t depth=0)
	Constructor of the iterator. More...

bool	operator!= (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack. More...

NodeType &	operator* ()
	Return the current node in the octree which the iterator is referring to. More...

const NodeType &	operator* () const
	Return the current node in the octree which the iterator is referring to. More...

leaf_bbx_iterator &	operator++ ()
	prefix increment operator of iterator (++it) More...

leaf_bbx_iterator	operator++ (int)
	postfix increment operator of iterator (it++) More...

NodeType *	operator-> ()
	Ptr operator will return the current node in the octree which the iterator is referring to. More...

NodeType const *	operator-> () const
	Ptr operator will return the current node in the octree which the iterator is referring to. More...

bool	operator== (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack. More...

Protected Member Functions
void	singleIncrement ()

Protected Attributes
uint8_t	maxDepth
	Maximum depth for depth-limited queries. More...

OcTreeKey	maxKey

OcTreeKey	minKey

std::stack< StackElement, std::vector< StackElement > >	stack
	Internal recursion stack. Apparently a stack of vector works fastest here. More...

OcTreeBaseImpl< NodeType, INTERFACE > const *	tree
	Octree this iterator is working on. More...

Detailed Description

Bounding-box leaf iterator.

This iterator will traverse all leaf nodes within a given bounding box (axis-aligned). See below for example usage. Note that the non-trivial call to tree->end_leafs_bbx() should be done only once for efficiency!

for(OcTreeTYPE::leaf_bbx_iterator it = tree->begin_leafs_bbx(min,max),
       end=tree->end_leafs_bbx(); 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;
}

Constructor & Destructor Documentation

◆ leaf_bbx_iterator() [1/4]

leaf_bbx_iterator::leaf_bbx_iterator ( )

inline

◆ leaf_bbx_iterator() [2/4]

leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	ptree,
		const point3d &	min,
		const point3d &	max,
		uint8_t	depth = `0`
	)

inline

Constructor of the iterator.

The bounding box corners min and max are converted into an OcTreeKey first.

Note: Due to rounding and discretization effects, nodes may be traversed that have float coordinates appearing outside of the (float) bounding box. However, the node's complete volume will include the bounding box coordinate. For a more exact control, use the constructor with OcTreeKeys instead.

Parameters

ptree	OcTreeBaseImpl on which the iterator is used on
min	Minimum point3d of the axis-aligned boundingbox
max	Maximum point3d of the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References iterator_base::maxDepth, maxKey, minKey, operator++(), iterator_base::stack, and iterator_base::tree.

◆ leaf_bbx_iterator() [3/4]

leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	ptree,
		const OcTreeKey &	min,
		const OcTreeKey &	max,
		uint8_t	depth = `0`
	)

inline

Constructor of the iterator.

This version uses the exact keys as axis-aligned bounding box (including min and max).

Parameters

ptree	OcTreeBaseImpl on which the iterator is used on
min	Minimum OcTreeKey to be included in the axis-aligned boundingbox
max	Maximum OcTreeKey to be included in the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

References operator++(), and iterator_base::stack.

◆ leaf_bbx_iterator() [4/4]

leaf_bbx_iterator::leaf_bbx_iterator ( const leaf_bbx_iterator & other )

inline

References maxKey, and minKey.

Member Function Documentation

◆ getCoordinate()

point3d iterator_base::getCoordinate ( ) const

inlineinherited

return the center coordinate of the current node

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

◆ getDepth()

unsigned iterator_base::getDepth ( ) const

inlineinherited

return depth of the current node

References iterator_base::stack.

◆ getIndexKey()

OcTreeKey iterator_base::getIndexKey ( ) const

inlineinherited

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

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

◆ getKey()

const OcTreeKey& iterator_base::getKey ( ) const

inlineinherited

Returns: the OcTreeKey of the current node

References iterator_base::stack.

◆ getSize()

double iterator_base::getSize ( ) const

inlineinherited

Returns: the side of the volume occupied by the current node

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

◆ getX()

double iterator_base::getX ( ) const

inlineinherited

Returns: single coordinate of the current node

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

◆ getY()

double iterator_base::getY ( ) const

inlineinherited

Returns: single coordinate of the current node

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

◆ getZ()

double iterator_base::getZ ( ) const

inlineinherited

Returns: single coordinate of the current node

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

◆ operator!=()

bool iterator_base::operator!= ( const iterator_base & other ) const

inlineinherited

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

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

◆ operator*() [1/2]

NodeType& iterator_base::operator* ( )

inlineinherited

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

References iterator_base::stack.

◆ operator*() [2/2]

const NodeType& iterator_base::operator* ( ) const

inlineinherited

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

References iterator_base::stack.

◆ operator++() [1/2]

leaf_bbx_iterator& leaf_bbx_iterator::operator++ ( )

inline

prefix increment operator of iterator (++it)

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

Referenced by leaf_bbx_iterator().

◆ operator++() [2/2]

leaf_bbx_iterator leaf_bbx_iterator::operator++ ( int )

inline

postfix increment operator of iterator (it++)

◆ operator->() [1/2]

NodeType* iterator_base::operator-> ( )

inlineinherited

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

References iterator_base::stack.

◆ operator->() [2/2]

NodeType const* iterator_base::operator-> ( ) const

inlineinherited

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

References iterator_base::stack.

◆ operator==()

bool iterator_base::operator== ( const iterator_base & other ) const

inlineinherited

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

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

◆ singleIncrement()

void leaf_bbx_iterator::singleIncrement ( )

inlineprotected

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

Referenced by operator++().

Field Documentation

◆ maxDepth

uint8_t iterator_base::maxDepth

protectedinherited

Maximum depth for depth-limited queries.

Referenced by iterator_base::iterator_base(), leaf_bbx_iterator(), iterator_base::operator=(), and iterator_base::singleIncrement().

◆ maxKey

OcTreeKey leaf_bbx_iterator::maxKey

protected

Referenced by leaf_bbx_iterator(), and singleIncrement().

◆ minKey

OcTreeKey leaf_bbx_iterator::minKey

protected

Referenced by leaf_bbx_iterator(), and singleIncrement().

◆ stack

std::stack<StackElement,std::vector<StackElement> > iterator_base::stack

protectedinherited

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(), iterator_base::iterator_base(), leaf_bbx_iterator(), leaf_iterator::leaf_iterator(), iterator_base::operator!=(), iterator_base::operator*(), tree_iterator::operator++(), leaf_iterator::operator++(), operator++(), iterator_base::operator->(), iterator_base::operator=(), iterator_base::operator==(), iterator_base::singleIncrement(), and singleIncrement().

◆ tree

OcTreeBaseImpl<NodeType,INTERFACE> const* iterator_base::tree

protectedinherited

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(), tree_iterator::isLeaf(), iterator_base::iterator_base(), leaf_bbx_iterator(), iterator_base::operator!=(), tree_iterator::operator++(), leaf_iterator::operator++(), operator++(), iterator_base::operator=(), iterator_base::operator==(), iterator_base::singleIncrement(), and singleIncrement().

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

include/octomap/OcTreeIterator.hxx

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ leaf_bbx_iterator() [1/4]

◆ leaf_bbx_iterator() [2/4]

◆ leaf_bbx_iterator() [3/4]

◆ leaf_bbx_iterator() [4/4]

Member Function Documentation

◆ getCoordinate()

◆ getDepth()

◆ getIndexKey()

◆ getKey()

◆ getSize()

◆ getX()

◆ getY()

◆ getZ()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator++() [1/2]

◆ operator++() [2/2]

◆ operator->() [1/2]

◆ operator->() [2/2]

◆ operator==()

◆ singleIncrement()

Field Documentation

◆ maxDepth

◆ maxKey

◆ minKey

◆ stack

◆ tree