OcTreeStamped.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
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 * 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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#ifndef OCTOMAP_OCTREE_STAMPED_H
#define OCTOMAP_OCTREE_STAMPED_H
 
 
#include <octomap/OcTreeNode.h>
#include <octomap/OccupancyOcTreeBase.h>
#include <ctime>
 
namespace octomap {
 
  // node definition
  class OcTreeNodeStamped : public OcTreeNode {
 
  public:
    OcTreeNodeStamped() : OcTreeNode(), timestamp(0) {}
 
    OcTreeNodeStamped(const OcTreeNodeStamped& rhs) : OcTreeNode(rhs), timestamp(rhs.timestamp) {}
 
    bool operator==(const OcTreeNodeStamped& rhs) const{
      return (rhs.value == value && rhs.timestamp == timestamp);
    }
 
    void copyData(const OcTreeNodeStamped& from){
      OcTreeNode::copyData(from);
      timestamp = from.getTimestamp();
    }
 
    // timestamp
    inline unsigned int getTimestamp() const { return timestamp; }
    inline void updateTimestamp() { timestamp = (unsigned int) time(NULL);}
    inline void setTimestamp(unsigned int t) {timestamp = t; }
 
    // update occupancy and timesteps of inner nodes
    inline void updateOccupancyChildren() {
      this->setLogOdds(this->getMaxChildLogOdds());  // conservative
      updateTimestamp();
    }
 
  protected:
    unsigned int timestamp;
  };
 
 
  // tree definition
  class OcTreeStamped : public OccupancyOcTreeBase <OcTreeNodeStamped> {
 
  public:
    OcTreeStamped(double resolution);

    OcTreeStamped* create() const {return new OcTreeStamped(resolution); }
 
    std::string getTreeType() const {return "OcTreeStamped";}

    unsigned int getLastUpdateTime();
 
    void degradeOutdatedNodes(unsigned int time_thres);
 
    virtual void updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const;
    void integrateMissNoTime(OcTreeNodeStamped* node) const;
 
  protected:
    class StaticMemberInitializer{
    public:
      StaticMemberInitializer() {
        OcTreeStamped* tree = new OcTreeStamped(0.1);
        tree->clearKeyRays();
        AbstractOcTree::registerTreeType(tree);
      }

      void ensureLinking() {};
    };

    static StaticMemberInitializer ocTreeStampedMemberInit;
 
  };
 
} // end namespace
 
#endif