MapNode.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * https://octomap.github.io/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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#ifndef OCTOMAP_MAP_NODE_H
#define OCTOMAP_MAP_NODE_H
 
 
#include <string>
#include <octomap/OcTree.h>
 
namespace octomap {
 
  template <class TREETYPE>
    class MapNode {
    
  public:
    MapNode();
    MapNode(TREETYPE* node_map, pose6d origin);
    MapNode(std::string filename, pose6d origin);
    MapNode(const Pointcloud& cloud, pose6d origin);
    ~MapNode();
 
    typedef TREETYPE TreeType;
 
    TREETYPE* getMap() { return  node_map; }
    
    void updateMap(const Pointcloud& cloud, point3d sensor_origin);
 
    inline std::string getId() { return id; }
    inline void setId(std::string newid) { id = newid; }
 
    inline pose6d getOrigin() { return origin; }
 
    // returns cloud of voxel centers in global reference frame
    Pointcloud generatePointcloud();
    bool writeMap(std::string filename);
 
  protected:
    TREETYPE*    node_map;  // occupancy grid map
    pose6d       origin;    // origin and orientation relative to parent
    std::string  id;
 
    void clear();
    bool readMap(std::string filename);
 
  };
 
} // end namespace
 
#include "octomap/MapNode.hxx"
 
#endif