octomap::CountingOcTreeNode Class Reference

An Octree-node which stores an internal counter per node / volume. More...

Inheritance diagram for octomap::CountingOcTreeNode:

Collaboration diagram for octomap::CountingOcTreeNode:

Public Types
typedef unsigned int	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...
	CountingOcTreeNode ()
	implementation of CountingOcTreeNode -------------------------------— More...
unsigned int	getCount () const
unsigned int	getValue () const
void	increaseCount ()
	OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const)
	Test whether the i-th child exists. More...
	OCTOMAP_DEPRECATED (bool hasChildren() const)
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	setCount (unsigned c)
void	setValue (unsigned int 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...
	~CountingOcTreeNode ()

Protected Member Functions
void	allocChildren ()

Protected Attributes
AbstractOcTreeNode **	children
	pointer to array of children, may be NULL More...
unsigned int	value
	stored data (payload) More...

Detailed Description

An Octree-node which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

Note

In our mapping system this data structure is used in CountingOcTree in the sensor model only

Member Typedef Documentation

DataType

typedef unsigned int octomap::OcTreeDataNode< unsigned int >::DataType

inherited

Make the templated data type available from the outside.

Constructor & Destructor Documentation

CountingOcTreeNode()

octomap::CountingOcTreeNode::CountingOcTreeNode

(

)

implementation of CountingOcTreeNode -------------------------------—

~CountingOcTreeNode()

octomap::CountingOcTreeNode::~CountingOcTreeNode

(

)

Member Function Documentation

allocChildren()

void octomap::OcTreeDataNode< unsigned int >::allocChildren

protectedinherited

copyData()

void octomap::OcTreeDataNode< unsigned int >::copyData ( const OcTreeDataNode< unsigned int > &  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.

getCount()

unsigned int octomap::CountingOcTreeNode::getCount ( ) const

inline

References octomap::OcTreeDataNode< unsigned int >::getValue().

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs().

getValue()

unsigned int octomap::OcTreeDataNode< unsigned int >::getValue

inlineinherited

Returns

value stored in the node

increaseCount()

void octomap::CountingOcTreeNode::increaseCount ( )

inline

References octomap::OcTreeDataNode< unsigned int >::value.

Referenced by octomap::CountingOcTree::updateNode().

OCTOMAP_DEPRECATED() [1/2]

octomap::OcTreeDataNode< unsigned int >::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< unsigned int >::OCTOMAP_DEPRECATED ( bool hasChildren() const  )

inherited

Returns

true if the node has at least one child

operator==()

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

inherited

Equals operator, compares if the stored value is identical.

readData()

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

inherited

Read node payload (data only) from binary stream.

setCount()

void octomap::CountingOcTreeNode::setCount ( unsigned  c )

inline

References octomap::OcTreeDataNode< unsigned int >::setValue().

setValue()

void octomap::OcTreeDataNode< unsigned int >::setValue ( unsigned int  v )

inlineinherited

sets value to be stored in the node

writeData()

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

inherited

Write node payload (data only) to binary stream.

Field Documentation

children

AbstractOcTreeNode** octomap::OcTreeDataNode< unsigned int >::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

unsigned int octomap::OcTreeDataNode< unsigned int >::value

protectedinherited

stored data (payload)

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

• include/octomap/CountingOcTree.h
• src/CountingOcTree.cpp