octomap main map data structure, stores 3D occupancy grid map in an OcTree. More...

#include <OcTree.h>

Inheritance diagram for octomap::OcTree:

Collaboration diagram for octomap::OcTree:

Data Structures
class	StaticMemberInitializer
	Static member object which ensures that this OcTree's prototype ends up in the classIDMapping only once. More...

Public Types
typedef leaf_iterator	iterator

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

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)

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)

bool	bbxSet () const

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.

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
	Performs raycasting in 3d, similar to computeRay().

KeyBoolMap::const_iterator	changedKeysBegin () const
	Iterator to traverse all keys of changed nodes.

KeyBoolMap::const_iterator	changedKeysEnd () const
	Iterator to traverse all keys of changed nodes.

void	clear ()
	Deletes the complete tree structure.

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

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
	Helper for insertPointCloud().

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.

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.

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
	Helper for insertPointCloud().

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

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

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

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

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

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.

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

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.

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

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

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

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.

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

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

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

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

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

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

void	enableChangeDetection (bool enable)
	track or ignore changes while inserting scans (default: ignore)

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())

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.

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

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

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

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

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

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

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

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

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

double	getNodeSize (unsigned depth) const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const
	Performs a step of the marching cubes surface reconstruction algorithm to retrieve the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.

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

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const
	Retrieves the entry point of a ray into a voxel.

double	getResolution () const

NODE *	getRoot () const

unsigned int	getTreeDepth () const

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

bool	inBBX (const OcTreeKey &key) const

bool	inBBX (const point3d &p) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP.

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)
	Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)
	Insert one ray between origin and end into the tree.

virtual void	integrateHit (OcTreeNode *occupancyNode) const
	integrate a "hit" measurement according to the tree's sensor model

virtual void	integrateMiss (OcTreeNode *occupancyNode) const
	integrate a "miss" measurement according to the tree's sensor model

bool	isChangeDetectionEnabled () const

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.

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

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

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

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

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

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

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

virtual void	nodeToMaxLikelihood (OcTreeNode &occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

virtual void	nodeToMaxLikelihood (OcTreeNode *occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

size_t	numChangesDetected () const
	Number of changes since last reset.

	OcTree (double resolution)
	Default constructor, sets resolution of leafs.

	OcTree (std::string _filename)
	Reads an OcTree from a binary file.

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

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

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

std::istream &	readBinaryData (std::istream &s)
	Reads only the data (=complete tree structure) from the input stream.

std::istream &	readBinaryNode (std::istream &s, OcTreeNode *node)
	Read node from binary stream (max-likelihood value), recursively continue with all children.

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.

void	resetChangeDetection ()
	Reset the set of changed keys. Call this after you obtained all changed nodes.

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.

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.

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).

void	setBBXMax (const point3d &max)
	sets the maximum for a query bounding box to use

void	setBBXMin (const point3d &min)
	sets the minimum for a query bounding box to use

virtual OcTreeNode *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.

virtual OcTreeNode *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.

virtual OcTreeNode *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.

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

virtual size_t	size () const

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

virtual void	toMaxLikelihood ()
	Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.

void	updateInnerOccupancy ()
	Updates the occupancy of all inner nodes to reflect their children's occupancy.

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.

virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

virtual OcTreeNode *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.

virtual OcTreeNode *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

virtual void	updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const
	update logodds value of node by adding to the current value.

void	useBBXLimit (bool enable)
	use or ignore BBX limit (default: ignore)

double	volume ()

std::ostream &	writeBinaryData (std::ostream &s) const
	Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)

std::ostream &	writeBinaryNode (std::ostream &s, const OcTreeNode *node) const
	Write node to binary stream (max-likelihood value), recursively continue with all children.

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)

virtual	~OcTree ()

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.

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.

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

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

size_t	getNumLeafNodesRecurs (const NODE *parent) const

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

bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)
	Traces a ray from origin to end and updates all voxels on the way as free.

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

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

OcTreeNode *	setNodeValueRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (OcTreeNode *node, unsigned int depth)

OcTreeNode *	updateNodeRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

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

Protected Attributes
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys
	Set of leaf keys (lowest level) which changed since last resetChangeDetection.

std::vector< KeyRay >	keyrays
	data structure for ray casting, array for multithreading

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

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

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)

double	resolution
	in meters

double	resolution_factor
	= 1. / resolution

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

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

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

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)

bool	use_bbx_limit
	use bounding box for queries (needs to be set)?

bool	use_change_detection

Static Protected Attributes
static StaticMemberInitializer	ocTreeMemberInit
	to ensure static initialization (only once)

Detailed Description

octomap main map data structure, stores 3D occupancy grid map in an OcTree.

Basic functionality is implemented in OcTreeBase.

Member Typedef Documentation

◆ iterator

template<class NODE , class INTERFACE >

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

inherited

◆ NodeType

template<class NODE , class INTERFACE >

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

inherited

Make the templated NODE type available from the outside.

Constructor & Destructor Documentation

◆ OcTree() [1/2]

octomap::OcTree::OcTree ( double resolution )

Default constructor, sets resolution of leafs.

References octomap::OcTree::StaticMemberInitializer::ensureLinking(), and ocTreeMemberInit.

◆ OcTree() [2/2]

octomap::OcTree::OcTree ( std::string _filename )

Reads an OcTree from a binary file.

Parameters

_filename

◆ ~OcTree()

virtual octomap::OcTree::~OcTree ( )

inlinevirtual

Member Function Documentation

◆ adjustKeyAtDepth() [1/2]

template<class NODE , class INTERFACE >

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth().

◆ adjustKeyAtDepth() [2/2]

template<class NODE , class I >

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()

template<class NODE , class I >

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

protectedinherited

◆ bbxSet()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::bbxSet ( ) const

inlineinherited

◆ begin()

template<class NODE , class INTERFACE >

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

inlineinherited

Returns: beginning of the tree as leaf iterator

Referenced by boundingBoxTest(), and main().

◆ begin_leafs()

template<class NODE , class INTERFACE >

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

inlineinherited

Returns: beginning of the tree as leaf iterator

Referenced by boundingBoxTest(), octomap::OcTreeStamped::degradeOutdatedNodes(), and main().

◆ begin_leafs_bbx() [1/2]

template<class NODE , class INTERFACE >

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::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

Referenced by boundingBoxTest(), and main().

◆ begin_leafs_bbx() [2/2]

template<class NODE , class INTERFACE >

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::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()

template<class NODE , class INTERFACE >

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

inlineinherited

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

Referenced by calcThresholdedNodes(), main(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().

◆ calcMinMax()

template<class NODE , class I >

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

protectedinherited

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

◆ calcNumNodes()

template<class NODE , class I >

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

inherited

Traverses the tree to calculate the total number of nodes.

Referenced by main(), and octomap::OccupancyOcTreeBase< NODE >::readBinaryData().

◆ calcNumNodesRecurs()

template<class NODE , class I >

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

protectedinherited

◆ castRay()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::castRay	(	const point3d &	origin,
		const point3d &	direction,
		point3d &	end,
		bool	ignoreUnknownCells = `false`,
		double	maxRange = `-1.0`
	)		const

virtualinherited

Performs raycasting in 3d, similar to computeRay().

Can be called in parallel e.g. with OpenMP for a speedup.

A ray is cast from 'origin' with a given direction, the first non-free cell is returned in 'end' (as center coordinate). This could also be the origin node if it is occupied or unknown. castRay() returns true if an occupied node was hit by the raycast. If the raycast returns false you can search() the node at 'end' and see whether it's unknown space.

Parameters

[in]	origin	starting coordinate of ray
[in]	direction	A vector pointing in the direction of the raycast (NOT a point in space). Does not need to be normalized.
[out]	end	returns the center of the last cell on the ray. If the function returns true, it is occupied.
[in]	ignoreUnknownCells	whether unknown cells are ignored (= treated as free). If false (default), the raycast aborts when an unknown cell is hit and returns false.
[in]	maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns: true if an occupied cell was hit, false if the maximum range or octree bounds are reached, or if an unknown node was hit.

-------— see OcTreeBase::computeRayKeys --------—

◆ changedKeysBegin()

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< OcTreeNode >::changedKeysBegin ( ) const

inlineinherited

Iterator to traverse all keys of changed nodes.

you need to enableChangeDetection() first. Here, an OcTreeKey always refers to a node at the lowest tree level (its size is the minimum tree resolution)

◆ changedKeysEnd()

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< OcTreeNode >::changedKeysEnd ( ) const

inlineinherited

Iterator to traverse all keys of changed nodes.

◆ clear()

template<class NODE , class I >

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

inherited

Deletes the complete tree structure.

Referenced by main().

◆ clearKeyRays()

template<class NODE , class INTERFACE >

void octomap::OcTreeBaseImpl< NODE, INTERFACE >::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.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyrays.

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

◆ computeDiscreteUpdate()

void octomap::OccupancyOcTreeBase< OcTreeNode >::computeDiscreteUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange
	)

inherited

Helper for insertPointCloud().

Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones. This function first discretizes the scan with the octree grid, which results in fewer raycasts (=speedup) but a slightly different result than computeUpdate().

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

◆ computeRay()

template<class NODE , class I >

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::end().

◆ computeRayKeys()

template<class NODE , class I >

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

References octomap::KeyRay::addKey(), octomath::Vector3::norm(), OCTOMAP_WARNING_STR, octomap::KeyRay::reset(), octomap::KeyRay::size(), and octomap::KeyRay::sizeMax().

◆ computeUpdate()

void octomap::OccupancyOcTreeBase< OcTreeNode >::computeUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange
	)

inherited

Helper for insertPointCloud().

Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones.

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

◆ coordToKey() [1/6]

template<class NODE , class INTERFACE >

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

inlineinherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().

◆ coordToKey() [2/6]

template<class NODE , class INTERFACE >

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

inlineinherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

◆ coordToKey() [3/6]

template<class NODE , class INTERFACE >

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

inlineinherited

Converts from a single coordinate into a discrete key.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution_factor, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().

◆ coordToKey() [4/6]

template<class NODE , class I >

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]

template<class NODE , class INTERFACE >

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

inlineinherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().

◆ coordToKey() [6/6]

template<class NODE , class INTERFACE >

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::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.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

◆ coordToKeyChecked() [1/6]

template<class NODE , class I >

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

Referenced by octomap::ColorOcTree::averageNodeColor(), boundingBoxTest(), octomap::ColorOcTree::integrateNodeColor(), main(), octomap::ColorOcTree::setNodeColor(), and octomap::CountingOcTree::updateNode().

◆ coordToKeyChecked() [2/6]

template<class NODE , class I >

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]

template<class NODE , class I >

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]

template<class NODE , class I >

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]

template<class NODE , class I >

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]

template<class NODE , class I >

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()

OcTree * octomap::OcTree::create ( ) const

inline

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution.

◆ createNodeChild()

template<class NODE , class I >

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

Referenced by main(), and octomap::CountingOcTree::updateNode().

◆ deleteNode() [1/3]

template<class NODE , class I >

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]

template<class NODE , class I >

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]

template<class NODE , class I >

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.

References OCTOMAP_ERROR_STR.

◆ deleteNodeChild()

template<class NODE , class I >

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

inherited

Deletes the i-th child of the node.

Referenced by main(), and octomap::ColorOcTree::pruneNode().

◆ deleteNodeRecurs() [1/2]

template<class NODE , class I >

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]

template<class NODE , class I >

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

protectedinherited

recursive call of deleteNode()

References octomap::computeChildIdx().

◆ enableChangeDetection()

void octomap::OccupancyOcTreeBase< OcTreeNode >::enableChangeDetection ( bool enable )

inlineinherited

track or ignore changes while inserting scans (default: ignore)

◆ end()

template<class NODE , class INTERFACE >

const iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end ( ) const

inlineinherited

Returns: end of the tree as leaf iterator

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end.

Referenced by boundingBoxTest(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRay(), octomap::OcTreeStamped::degradeOutdatedNodes(), main(), and octomap::ColorOcTree::writeColorHistogram().

◆ end_leafs()

template<class NODE , class INTERFACE >

const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs ( ) const

inlineinherited

Returns: end of the tree as leaf iterator

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end.

Referenced by boundingBoxTest(), octomap::OcTreeStamped::degradeOutdatedNodes(), and main().

◆ end_leafs_bbx()

template<class NODE , class INTERFACE >

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx ( ) const

inlineinherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_bbx_end.

Referenced by boundingBoxTest(), and main().

◆ end_tree()

template<class NODE , class INTERFACE >

const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree ( ) const

inlineinherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_iterator_end.

Referenced by calcThresholdedNodes(), main(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().

◆ expand()

template<class NODE , class I >

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!

Referenced by boundingBoxTest(), main(), and printChanges().

◆ expandNode()

template<class NODE , class I >

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)

Referenced by main().

◆ expandRecurs()

template<class NODE , class I >

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

protectedinherited

recursive call of expand()

◆ getBBXBounds()

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXBounds

inherited

◆ getBBXCenter()

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXCenter

inherited

◆ getBBXMax()

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXMax ( ) const

inlineinherited

Returns: the currently set maximum for bounding box queries, if set

◆ getBBXMin()

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::getBBXMin ( ) const

inlineinherited

Returns: the currently set minimum for bounding box queries, if set

◆ getMetricMax() [1/2]

template<class NODE , class I >

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

Referenced by boundingBoxTest().

◆ getMetricMax() [2/2]

template<class NODE , class I >

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

inherited

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

◆ getMetricMin() [1/2]

template<class NODE , class I >

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

Referenced by boundingBoxTest().

◆ getMetricMin() [2/2]

template<class NODE , class I >

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

inherited

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

◆ getMetricSize() [1/2]

template<class NODE , class I >

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.

Referenced by main(), and outputStatistics().

◆ getMetricSize() [2/2]

template<class NODE , class I >

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]

template<class NODE , class I >

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]

template<class NODE , class I >

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

inherited

Returns: ptr to child number childIdx of node

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), octomap::ColorOcTree::pruneNode(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and octomap::CountingOcTree::updateNode().

◆ getNodeSize()

template<class NODE , class INTERFACE >

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

inlineinherited

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::sizeLookupTable, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

◆ getNormals()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::getNormals	(	const point3d &	point,
		std::vector< point3d > &	normals,
		bool	unknownStatus = `true`
	)		const

inherited

Performs a step of the marching cubes surface reconstruction algorithm to retrieve the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.

Parameters

[in]	point	voxel for which retrieve the normals
[out]	normals	normals of the triangles
[in]	unknownStatus	consider unknown cells as free (false) or occupied (default, true).

Returns: True if the input voxel is known in the occupancy grid, and false if it is unknown.

◆ getNumLeafNodes()

template<class NODE , class I >

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

inherited

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

Referenced by main(), and outputStatistics().

◆ getNumLeafNodesRecurs()

template<class NODE , class I >

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

protectedinherited

◆ getRayIntersection()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::getRayIntersection	(	const point3d &	origin,
		const point3d &	direction,
		const point3d &	center,
		point3d &	intersection,
		double	delta = `0.0`
	)		const

virtualinherited

Retrieves the entry point of a ray into a voxel.

This is the closest intersection point of the ray originating from origin and a plane of the axis aligned cube.

Parameters

[in]	origin	Starting point of ray
[in]	direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
[in]	center	The center of the voxel where the ray terminated. This is the output of castRay.
[out]	intersection	The entry point of the ray into the voxel, on the voxel surface.
[in]	delta	A small increment to avoid ambiguity of beeing exactly on a voxel surface. A positive value will get the point out of the hit voxel, while a negative valuewill get it inside.

Returns: Whether or not an intesection point has been found. Either, the ray never cross the voxel or the ray is exactly parallel to the only surface it intersect.

◆ getResolution()

template<class NODE , class INTERFACE >

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getResolution ( ) const

inlineinherited

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution.

Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), and main().

◆ getRoot()

template<class NODE , class INTERFACE >

NODE * octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot ( ) const

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.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::root.

Referenced by main().

◆ getTreeDepth()

template<class NODE , class INTERFACE >

unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth ( ) const

inlineinherited

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

Referenced by main().

◆ getTreeType()

std::string octomap::OcTree::getTreeType ( ) const

inline

◆ getUnknownLeafCenters()

template<class NODE , class I >

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

References octomath::Vector3::x(), octomath::Vector3::y(), and octomath::Vector3::z().

◆ inBBX() [1/2]

bool octomap::OccupancyOcTreeBase< OcTreeNode >::inBBX ( const OcTreeKey & key ) const

inherited

Returns: true if key is in the currently set bounding box

◆ inBBX() [2/2]

bool octomap::OccupancyOcTreeBase< OcTreeNode >::inBBX ( const point3d & p ) const

inherited

Returns: true if point is in the currently set bounding box

◆ init()

template<class NODE , class I >

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

protectedinherited

initialize non-trivial members, helper for constructors

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().

◆ insertPointCloud() [1/3]

void octomap::OccupancyOcTreeBase< OcTreeNode >::insertPointCloud	(	const Pointcloud &	scan,
		const octomap::point3d &	sensor_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtualinherited

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note: replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

◆ insertPointCloud() [2/3]

void octomap::OccupancyOcTreeBase< OcTreeNode >::insertPointCloud	(	const Pointcloud &	scan,
		const point3d &	sensor_origin,
		const pose6d &	frame_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtualinherited

Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP.

Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note: replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints) relative to frame origin
sensor_origin	origin of sensor relative to frame origin
frame_origin	origin of reference frame, determines transform to be applied to cloud and sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

◆ insertPointCloud() [3/3]

void octomap::OccupancyOcTreeBase< OcTreeNode >::insertPointCloud	(	const ScanNode &	scan,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`,
		bool	discretize = `false`
	)

virtualinherited

Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.

Note: replaces insertScan

Parameters

scan	ScanNode contains Pointcloud data and frame/sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call updateInnerOccupancy() when done.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.

◆ insertPointCloudRays()

void octomap::OccupancyOcTreeBase< OcTreeNode >::insertPointCloudRays	(	const Pointcloud &	scan,
		const point3d &	sensor_origin,
		double	maxrange = `-1.`,
		bool	lazy_eval = `false`
	)

virtualinherited

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

This function simply inserts all rays of the point clouds as batch operation. Discretization effects can lead to the deletion of occupied space, it is usually recommended to use insertPointCloud() instead.

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

◆ insertRay()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::insertRay	(	const point3d &	origin,
		const point3d &	end,
		double	maxrange = `-1.0`,
		bool	lazy_eval = `false`
	)

virtualinherited

Insert one ray between origin and end into the tree.

integrateMissOnRay() is called for the ray, the end point is updated as occupied. It is usually more efficient to insert complete pointcloudsm with insertPointCloud() or insertPointCloudRays().

Parameters

origin	origin of sensor in global coordinates
end	endpoint of measurement in global coordinates
maxrange	maximum range after which the raycast should be aborted
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: success of operation

◆ integrateHit()

void octomap::OccupancyOcTreeBase< OcTreeNode >::integrateHit ( OcTreeNode * occupancyNode ) const

virtualinherited

integrate a "hit" measurement according to the tree's sensor model

◆ integrateMiss()

void octomap::OccupancyOcTreeBase< OcTreeNode >::integrateMiss ( OcTreeNode * occupancyNode ) const

virtualinherited

integrate a "miss" measurement according to the tree's sensor model

◆ integrateMissOnRay()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::integrateMissOnRay	(	const point3d &	origin,
		const point3d &	end,
		bool	lazy_eval = `false`
	)

inlineprotectedinherited

Traces a ray from origin to end and updates all voxels on the way as free.

The volume containing "end" is not updated.

◆ isChangeDetectionEnabled()

bool octomap::OccupancyOcTreeBase< OcTreeNode >::isChangeDetectionEnabled ( ) const

inlineinherited

◆ isNodeCollapsible()

template<class NODE , class I >

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]

template<class NODE , class INTERFACE >

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord().

◆ keyToCoord() [2/4]

template<class NODE , class INTERFACE >

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord().

◆ keyToCoord() [3/4]

template<class NODE , class INTERFACE >

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.

◆ keyToCoord() [4/4]

template<class NODE , class I >

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

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord(), and main().

◆ memoryFullGrid()

template<class NODE , class I >

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!

Referenced by main(), and outputStatistics().

◆ memoryUsage()

template<class NODE , class I >

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

virtualinherited

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

Referenced by main(), and outputStatistics().

◆ memoryUsageNode()

template<class NODE , class INTERFACE >

virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsageNode ( ) const

inlinevirtualinherited

Returns: Memory usage of a single octree node

◆ nodeChildExists()

template<class NODE , class I >

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

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), main(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and octomap::CountingOcTree::updateNode().

◆ nodeHasChildren()

template<class NODE , class I >

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

Referenced by boundingBoxTest(), octomap::CountingOcTree::getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), main(), and octomap::ColorOcTree::updateInnerOccupancyRecurs().

◆ nodeToMaxLikelihood() [1/2]

void octomap::OccupancyOcTreeBase< OcTreeNode >::nodeToMaxLikelihood ( OcTreeNode & occupancyNode ) const

virtualinherited

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

◆ nodeToMaxLikelihood() [2/2]

void octomap::OccupancyOcTreeBase< OcTreeNode >::nodeToMaxLikelihood ( OcTreeNode * occupancyNode ) const

virtualinherited

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

◆ numChangesDetected()

size_t octomap::OccupancyOcTreeBase< OcTreeNode >::numChangesDetected ( ) const

inlineinherited

Number of changes since last reset.

◆ operator==()

template<class NODE , class INTERFACE >

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

inherited

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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.

◆ prune()

template<class NODE , class I >

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.

Referenced by main(), and printChanges().

◆ pruneNode()

template<class NODE , class I >

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

virtualinherited

Prunes a node when it is collapsible.

Returns: true if pruning was successful

Referenced by main().

◆ pruneRecurs()

template<class NODE , class I >

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

protectedinherited

recursive call of prune()

◆ readBinaryData()

std::istream & octomap::OccupancyOcTreeBase< OcTreeNode >::readBinaryData ( std::istream & s )

inherited

Reads only the data (=complete tree structure) from the input stream.

The tree needs to be constructed with the proper header information beforehand, see readBinary().

◆ readBinaryNode()

std::istream & octomap::OccupancyOcTreeBase< OcTreeNode >::readBinaryNode	(	std::istream &	s,
		OcTreeNode *	node
	)

inherited

Read node from binary stream (max-likelihood value), recursively continue with all children.

This will set the log_odds_occupancy value of all leaves to either free or occupied.

◆ readData()

template<class NODE , class I >

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

inherited

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.

References OCTOMAP_ERROR_STR, and OCTOMAP_WARNING_STR.

Referenced by main().

◆ readNodesRecurs()

template<class NODE , class I >

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

protectedinherited

recursive call of readData()

◆ resetChangeDetection()

void octomap::OccupancyOcTreeBase< OcTreeNode >::resetChangeDetection ( )

inlineinherited

Reset the set of changed keys. Call this after you obtained all changed nodes.

◆ search() [1/3]

template<class NODE , class I >

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]

template<class NODE , class I >

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

References OCTOMAP_ERROR_STR.

◆ search() [3/3]

template<class NODE , class I >

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

Referenced by octomap::ColorOcTree::averageNodeColor(), boundingBoxTest(), octomap::ColorOcTree::integrateNodeColor(), main(), printChanges(), and octomap::ColorOcTree::setNodeColor().

◆ setBBXMax()

void octomap::OccupancyOcTreeBase< OcTreeNode >::setBBXMax ( const point3d & max )

inherited

sets the maximum for a query bounding box to use

◆ setBBXMin()

void octomap::OccupancyOcTreeBase< OcTreeNode >::setBBXMin ( const point3d & min )

inherited

sets the minimum for a query bounding box to use

◆ setNodeValue() [1/3]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::setNodeValue	(	const OcTreeKey &	key,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtualinherited

Set log_odds value of voxel to log_odds_value.

This only works if key is at the lowest octree level

Parameters

key	OcTreeKey of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ setNodeValue() [2/3]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::setNodeValue	(	const point3d &	value,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtualinherited

Set log_odds value of voxel to log_odds_value.

Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ setNodeValue() [3/3]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::setNodeValue	(	double	x,
		double	y,
		double	z,
		float	log_odds_value,
		bool	lazy_eval = `false`
	)

virtualinherited

Set log_odds value of voxel to log_odds_value.

Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

x
y
z
log_odds_value	value to be set as the log_odds value of the node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ setNodeValueRecurs()

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::setNodeValueRecurs	(	OcTreeNode *	node,
		bool	node_just_created,
		const OcTreeKey &	key,
		unsigned int	depth,
		const float &	log_odds_value,
		bool	lazy_eval = `false`
	)

protectedinherited

◆ setResolution()

template<class NODE , class I >

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

inherited

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

Referenced by main().

◆ size()

template<class NODE , class INTERFACE >

virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::size ( ) const

inlinevirtualinherited

Returns: The number of nodes in the tree

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

Referenced by main(), and outputStatistics().

◆ swapContent()

template<class NODE , class INTERFACE >

void octomap::OcTreeBaseImpl< NODE, I >::swapContent ( OcTreeBaseImpl< NODE, INTERFACE > & 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

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.

Referenced by main().

◆ toMaxLikelihood()

void octomap::OccupancyOcTreeBase< OcTreeNode >::toMaxLikelihood

virtualinherited

Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.

This enables a very efficient compression if you call prune() afterwards.

◆ toMaxLikelihoodRecurs()

void octomap::OccupancyOcTreeBase< OcTreeNode >::toMaxLikelihoodRecurs	(	OcTreeNode *	node,
		unsigned int	depth,
		unsigned int	max_depth
	)

protectedinherited

◆ updateInnerOccupancy()

void octomap::OccupancyOcTreeBase< OcTreeNode >::updateInnerOccupancy

inherited

Updates the occupancy of all inner nodes to reflect their children's occupancy.

If you performed batch-updates with lazy evaluation enabled, you must call this before any queries to ensure correct multi-resolution behavior.

◆ updateInnerOccupancyRecurs()

void octomap::OccupancyOcTreeBase< OcTreeNode >::updateInnerOccupancyRecurs	(	OcTreeNode *	node,
		unsigned int	depth
	)

protectedinherited

◆ updateNode() [1/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = `false`
	)

virtualinherited

Integrate occupancy measurement.

Parameters

key	OcTreeKey of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNode() [2/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtualinherited

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

This only works if key is at the lowest octree level

Parameters

key	OcTreeKey of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNode() [3/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = `false`
	)

virtualinherited

Integrate occupancy measurement.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNode() [4/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtualinherited

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNode() [5/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	double	x,
		double	y,
		double	z,
		bool	occupied,
		bool	lazy_eval = `false`
	)

virtualinherited

Integrate occupancy measurement.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

x
y
z
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNode() [6/6]

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNode	(	double	x,
		double	y,
		double	z,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)

virtualinherited

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.

Parameters

x
y
z
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns: pointer to the updated NODE

◆ updateNodeLogOdds()

void octomap::OccupancyOcTreeBase< OcTreeNode >::updateNodeLogOdds	(	OcTreeNode *	occupancyNode,
		const float &	update
	)		const

virtualinherited

update logodds value of node by adding to the current value.

◆ updateNodeRecurs()

OcTreeNode * octomap::OccupancyOcTreeBase< OcTreeNode >::updateNodeRecurs	(	OcTreeNode *	node,
		bool	node_just_created,
		const OcTreeKey &	key,
		unsigned int	depth,
		const float &	log_odds_update,
		bool	lazy_eval = `false`
	)

protectedinherited

◆ useBBXLimit()

void octomap::OccupancyOcTreeBase< OcTreeNode >::useBBXLimit ( bool enable )

inlineinherited

use or ignore BBX limit (default: ignore)

◆ volume()

template<class NODE , class I >

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

inherited

◆ writeBinaryData()

std::ostream & octomap::OccupancyOcTreeBase< OcTreeNode >::writeBinaryData ( std::ostream & s ) const

inherited

Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)

◆ writeBinaryNode()

std::ostream & octomap::OccupancyOcTreeBase< OcTreeNode >::writeBinaryNode	(	std::ostream &	s,
		const OcTreeNode *	node
	)		const

inherited

Write node to binary stream (max-likelihood value), recursively continue with all children.

This will discard the log_odds_occupancy value, writing all leaves as either free or occupied.

Parameters

s
node	OcTreeNode to write out, will recurse to all children

Returns

◆ writeData()

template<class NODE , class I >

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

inherited

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

◆ writeNodesRecurs()

template<class NODE , class I >

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

protectedinherited

recursive call of writeData()

Field Documentation

◆ bbx_max

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_max

protectedinherited

◆ bbx_max_key

OcTreeKey octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_max_key

protectedinherited

◆ bbx_min

point3d octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_min

protectedinherited

◆ bbx_min_key

OcTreeKey octomap::OccupancyOcTreeBase< OcTreeNode >::bbx_min_key

protectedinherited

◆ changed_keys

KeyBoolMap octomap::OccupancyOcTreeBase< OcTreeNode >::changed_keys

protectedinherited

Set of leaf keys (lowest level) which changed since last resetChangeDetection.

◆ keyrays

template<class NODE , class INTERFACE >

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

protectedinherited

data structure for ray casting, array for multithreading

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::clearKeyRays().

◆ leaf_iterator_bbx_end

template<class NODE , class INTERFACE >

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

protectedinherited

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx().

◆ leaf_iterator_end

template<class NODE , class INTERFACE >

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

protectedinherited

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::end(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs().

◆ max_value

template<class NODE , class INTERFACE >

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

protectedinherited

max in x, y, z

◆ min_value

template<class NODE , class INTERFACE >

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::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)

◆ ocTreeMemberInit

OcTree::StaticMemberInitializer octomap::OcTree::ocTreeMemberInit

staticprotected

to ensure static initialization (only once)

Referenced by OcTree().

◆ resolution

template<class NODE , class INTERFACE >

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

protectedinherited

in meters

Referenced by octomap::ColorOcTree::create(), create(), octomap::OcTreeStamped::create(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getResolution(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord().

◆ resolution_factor

template<class NODE , class INTERFACE >

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

protectedinherited

= 1. / resolution

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().

◆ root

template<class NODE , class INTERFACE >

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

protectedinherited

Pointer to the root NODE, NULL for empty tree.

Referenced by octomap::CountingOcTree::getCentersMinHits(), octomap::OcTreeStamped::getLastUpdateTime(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent(), octomap::ColorOcTree::updateInnerOccupancy(), and octomap::CountingOcTree::updateNode().

◆ size_changed

template<class NODE , class INTERFACE >

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

protectedinherited

◆ sizeLookupTable

template<class NODE , class INTERFACE >

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

protectedinherited

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize().

◆ tree_center

template<class NODE , class INTERFACE >

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

protectedinherited

◆ tree_depth

template<class NODE , class INTERFACE >

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

protectedinherited

Maximum tree depth is fixed to 16 currently.

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), octomap::CountingOcTree::getCentersMinHits(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and octomap::CountingOcTree::updateNode().

◆ tree_iterator_end

template<class NODE , class INTERFACE >

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

protectedinherited

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree().

◆ tree_max_val

template<class NODE , class INTERFACE >

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

protectedinherited

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), octomap::CountingOcTree::getCentersMinHits(), octomap::CountingOcTree::getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==().

◆ tree_size

template<class NODE , class INTERFACE >

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

protectedinherited

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

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::size(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent(), and octomap::CountingOcTree::updateNode().

◆ use_bbx_limit

bool octomap::OccupancyOcTreeBase< OcTreeNode >::use_bbx_limit

protectedinherited

use bounding box for queries (needs to be set)?

◆ use_change_detection

bool octomap::OccupancyOcTreeBase< OcTreeNode >::use_change_detection

protectedinherited

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

include/octomap/OcTree.h
src/OcTree.cpp

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ iterator

◆ NodeType

Constructor & Destructor Documentation

◆ OcTree() [1/2]

◆ OcTree() [2/2]

◆ ~OcTree()

Member Function Documentation

◆ adjustKeyAtDepth() [1/2]

◆ adjustKeyAtDepth() [2/2]

◆ allocNodeChildren()

◆ bbxSet()

◆ begin()

◆ begin_leafs()

◆ begin_leafs_bbx() [1/2]

◆ begin_leafs_bbx() [2/2]

◆ begin_tree()

◆ calcMinMax()

◆ calcNumNodes()

◆ calcNumNodesRecurs()

◆ castRay()

◆ changedKeysBegin()

◆ changedKeysEnd()

◆ clear()

◆ clearKeyRays()

◆ computeDiscreteUpdate()

◆ computeRay()

◆ computeRayKeys()

◆ computeUpdate()

◆ 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()

◆ deleteNode() [1/3]

◆ deleteNode() [2/3]

◆ deleteNode() [3/3]

◆ deleteNodeChild()

◆ deleteNodeRecurs() [1/2]

◆ deleteNodeRecurs() [2/2]

◆ enableChangeDetection()

◆ end()

◆ end_leafs()

◆ end_leafs_bbx()

◆ end_tree()

◆ expand()

◆ expandNode()

◆ expandRecurs()

◆ getBBXBounds()

◆ getBBXCenter()

◆ getBBXMax()

◆ getBBXMin()

◆ 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()

◆ getNormals()

◆ getNumLeafNodes()

◆ getNumLeafNodesRecurs()