Interface class for all octree types that store occupancy. More...

#include <AbstractOccupancyOcTree.h>

Inheritance diagram for octomap::AbstractOccupancyOcTree:

Collaboration diagram for octomap::AbstractOccupancyOcTree:

Public Member Functions
	AbstractOccupancyOcTree ()
virtual void	clear ()=0
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type
virtual void	expand ()=0
double	getClampingThresMax () const
float	getClampingThresMaxLog () const
double	getClampingThresMin () const
float	getClampingThresMinLog () const
virtual void	getMetricMax (double &x, double &y, double &z) const =0
virtual void	getMetricMax (double &x, double &y, double &z)=0
virtual void	getMetricMin (double &x, double &y, double &z) const =0
virtual void	getMetricMin (double &x, double &y, double &z)=0
virtual void	getMetricSize (double &x, double &y, double &z)=0
double	getOccupancyThres () const
float	getOccupancyThresLog () const
double	getProbHit () const
float	getProbHitLog () const
double	getProbMiss () const
float	getProbMissLog () const
virtual double	getResolution () const =0
virtual std::string	getTreeType () const =0
	returns actual class name as string for identification
bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeOccupied (const OcTreeNode &occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
bool	isNodeOccupied (const OcTreeNode *occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
virtual size_t	memoryUsage () const =0
virtual size_t	memoryUsageNode () const =0
virtual void	prune ()=0
bool	readBinary (const std::string &filename)
	Reads OcTree from a binary file.
bool	readBinary (std::istream &s)
	Reads an OcTree from an input stream.
virtual std::istream &	readBinaryData (std::istream &s)=0
	Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
virtual std::istream &	readData (std::istream &s)=0
	Read all nodes from the input stream (without file header), for this the tree needs to be already created.
void	setClampingThresMax (double thresProb)
	sets the maximum threshold for occupancy clamping (sensor model)
void	setClampingThresMin (double thresProb)
	sets the minimum threshold for occupancy clamping (sensor model)
void	setOccupancyThres (double prob)
	sets the threshold for occupancy (sensor model)
void	setProbHit (double prob)
	sets the probability for a "hit" (will be converted to logodds) - sensor model
void	setProbMiss (double prob)
	sets the probability for a "miss" (will be converted to logodds) - sensor model
virtual void	setResolution (double res)=0
virtual size_t	size () const =0
virtual void	toMaxLikelihood ()=0
virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement.
virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly.
virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement.
virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly.
bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization)
bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization)
bool	writeBinary (const std::string &filename)
	Writes OcTree to a binary file using writeBinary().
bool	writeBinary (std::ostream &s)
	Writes compressed maximum likelihood OcTree to a binary stream.
bool	writeBinaryConst (const std::string &filename) const
	Writes OcTree to a binary file using writeBinaryConst().
bool	writeBinaryConst (std::ostream &s) const
	Writes the maximum likelihood OcTree to a binary stream (const variant).
virtual std::ostream &	writeBinaryData (std::ostream &s) const =0
	Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
virtual std::ostream &	writeData (std::ostream &s) const =0
	Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)
virtual	~AbstractOccupancyOcTree ()

Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
	Creates a certain OcTree (factory pattern)
static AbstractOcTree *	read (const std::string &filename)
	Read the file header, create the appropriate class and deserialize.
static AbstractOcTree *	read (std::istream &s)
	Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself.

Protected Member Functions
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
	Try to read the old binary format for conversion, will be removed in the future.

Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes
float	clamping_thres_max
float	clamping_thres_min
float	occ_prob_thres_log
float	prob_hit_log
float	prob_miss_log

Static Protected Attributes
static const std::string	binaryFileHeader = "# Octomap OcTree binary file"
static const std::string	fileHeader = "# Octomap OcTree file"

Detailed Description

Interface class for all octree types that store occupancy.

This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Constructor & Destructor Documentation

◆ AbstractOccupancyOcTree()

octomap::AbstractOccupancyOcTree::AbstractOccupancyOcTree ( )

References setClampingThresMax(), setClampingThresMin(), setOccupancyThres(), setProbHit(), and setProbMiss().

◆ ~AbstractOccupancyOcTree()

virtual octomap::AbstractOccupancyOcTree::~AbstractOccupancyOcTree ( )

inlinevirtual

Member Function Documentation

◆ clear()

virtual void octomap::AbstractOcTree::clear ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

References AbstractOcTree().

Referenced by octomap::AbstractOccupancyOcTree::readBinary(), and octomap::OccupancyOcTreeBase< ColorOcTreeNode >::readBinary().

◆ create()

virtual AbstractOcTree * octomap::AbstractOcTree::create ( ) const

pure virtualinherited

virtual constructor: creates a new object of same type

Implemented in octomap::ColorOcTree, octomap::OcTree, octomap::OcTreeBase< NODE >, octomap::OcTreeBase< CountingOcTreeNode >, and octomap::OcTreeStamped.

References AbstractOcTree().

◆ createTree()

AbstractOcTree * octomap::AbstractOcTree::createTree	(	const std::string	id,
		double	res )

staticinherited

Creates a certain OcTree (factory pattern)

Parameters

id	unique ID of OcTree
res	resolution of OcTree

Returns: pointer to newly created OcTree (empty). NULL if the ID is unknown!

References AbstractOcTree(), OCTOMAP_ERROR, and setResolution().

◆ expand()

virtual void octomap::AbstractOcTree::expand ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ getClampingThresMax()

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (probability)

References clamping_thres_max, and octomap::probability().

Referenced by main().

◆ getClampingThresMaxLog()

float octomap::AbstractOccupancyOcTree::getClampingThresMaxLog ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (logodds)

References clamping_thres_max.

◆ getClampingThresMin()

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (probability)

References clamping_thres_min, and octomap::probability().

Referenced by main().

◆ getClampingThresMinLog()

float octomap::AbstractOccupancyOcTree::getClampingThresMinLog ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (logodds)

References clamping_thres_min.

◆ getMetricMax() [1/2]

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z ) const

pure virtualinherited

◆ getMetricMax() [2/2]

virtual void octomap::AbstractOcTree::getMetricMax	(	double &	x,
		double &	y,
		double &	z )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ getMetricMin() [1/2]

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z ) const

pure virtualinherited

◆ getMetricMin() [2/2]

virtual void octomap::AbstractOcTree::getMetricMin	(	double &	x,
		double &	y,
		double &	z )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ getMetricSize()

virtual void octomap::AbstractOcTree::getMetricSize	(	double &	x,
		double &	y,
		double &	z )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ getOccupancyThres()

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const

inline

Returns: threshold (probability) for occupancy - sensor model

References occ_prob_thres_log, and octomap::probability().

◆ getOccupancyThresLog()

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const

inline

Returns: threshold (logodds) for occupancy - sensor model

References occ_prob_thres_log.

◆ getProbHit()

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const

inline

Returns: probability for a "hit" in the sensor model (probability)

References prob_hit_log, and octomap::probability().

Referenced by main().

◆ getProbHitLog()

float octomap::AbstractOccupancyOcTree::getProbHitLog ( ) const

inline

Returns: probability for a "hit" in the sensor model (logodds)

References prob_hit_log.

◆ getProbMiss()

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const

inline

Returns: probability for a "miss" in the sensor model (probability)

References prob_miss_log, and octomap::probability().

Referenced by main().

◆ getProbMissLog()

float octomap::AbstractOccupancyOcTree::getProbMissLog ( ) const

inline

Returns: probability for a "miss" in the sensor model (logodds)

References prob_miss_log.

◆ getResolution()

virtual double octomap::AbstractOcTree::getResolution ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Referenced by main(), and write().

◆ getTreeType()

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const

pure virtualinherited

returns actual class name as string for identification

Referenced by main(), main(), registerTreeType(), and write().

◆ isNodeAtThreshold() [1/2]

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode & occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

References octomap::OcTreeNode::getLogOdds().

◆ isNodeAtThreshold() [2/2]

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode * occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

References octomap::OcTreeNode::getLogOdds().

Referenced by calcThresholdedNodes().

◆ isNodeOccupied() [1/2]

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode & occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

References octomap::OcTreeNode::getLogOdds().

◆ isNodeOccupied() [2/2]

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode * occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

References octomap::OcTreeNode::getLogOdds().

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay(), getLeafNodesRecurs(), octomap::OccupancyOcTreeBase< NODE >::getNormals(), main(), main(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), printChanges(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode().

◆ memoryUsage()

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ memoryUsageNode()

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

◆ prune()

virtual void octomap::AbstractOcTree::prune ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Referenced by octomap::AbstractOccupancyOcTree::writeBinary().

◆ read() [1/2]

AbstractOcTree * octomap::AbstractOcTree::read ( const std::string & filename )

staticinherited

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

AbstractOcTree* tree = AbstractOcTree::read("filename.ot");

OcTree* octree = dynamic_cast<OcTree*>(tree);

octomap::AbstractOcTree::AbstractOcTree

AbstractOcTree()

Definition AbstractOcTree.cpp:41

octomap::AbstractOcTree::read

static AbstractOcTree * read(const std::string &filename)

Read the file header, create the appropriate class and deserialize.

Definition AbstractOcTree.cpp:74

octomap::OcTree

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

Definition OcTree.h:49

References AbstractOcTree(), OCTOMAP_ERROR_STR, and read().

Referenced by main(), main(), and read().

◆ read() [2/2]

AbstractOcTree * octomap::AbstractOcTree::read ( std::istream & s )

staticinherited

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself.

References AbstractOcTree(), fileHeader, OCTOMAP_DEBUG_STR, OCTOMAP_ERROR_STR, readHeader(), and size().

◆ readBinary() [1/2]

bool octomap::AbstractOccupancyOcTree::readBinary ( const std::string & filename )

Reads OcTree from a binary file.

Existing nodes of the tree are deleted before the tree is read.

Returns: success of operation

References OCTOMAP_ERROR_STR, and readBinary().

◆ readBinary() [2/2]

bool octomap::AbstractOccupancyOcTree::readBinary ( std::istream & s )

Reads an OcTree from an input stream.

Existing nodes of the tree are deleted before the tree is read.

Returns: success of operation

References binaryFileHeader, octomap::AbstractOcTree::clear(), OCTOMAP_DEBUG_STR, OCTOMAP_ERROR, OCTOMAP_ERROR_STR, OCTOMAP_WARNING_STR, readBinaryData(), readBinaryLegacyHeader(), octomap::AbstractOcTree::readHeader(), octomap::AbstractOcTree::setResolution(), and octomap::AbstractOcTree::size().

Referenced by main(), and readBinary().

◆ readBinaryData()

virtual std::istream & octomap::AbstractOccupancyOcTree::readBinaryData ( std::istream & s )

pure virtual

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

Referenced by readBinary().

◆ readBinaryLegacyHeader()

bool octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader	(	std::istream &	s,
		unsigned int &	size,
		double &	res )

protected

Try to read the old binary format for conversion, will be removed in the future.

References octomap::AbstractOcTree::size().

Referenced by readBinary().

◆ readData()

virtual std::istream & octomap::AbstractOcTree::readData ( std::istream & s )

pure virtualinherited

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.

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Referenced by octomap::OccupancyOcTreeBase< ColorOcTreeNode >::write().

◆ readHeader()

bool octomap::AbstractOcTree::readHeader	(	std::istream &	s,
		std::string &	id,
		unsigned &	size,
		double &	res )

staticprotectedinherited

References size().

Referenced by read(), and octomap::AbstractOccupancyOcTree::readBinary().

◆ registerTreeType()

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree * tree )

staticprotectedinherited

References AbstractOcTree(), and getTreeType().

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

◆ setClampingThresMax()

void octomap::AbstractOccupancyOcTree::setClampingThresMax ( double thresProb )

inline

sets the maximum threshold for occupancy clamping (sensor model)

References clamping_thres_max, and octomap::logodds().

Referenced by AbstractOccupancyOcTree(), and main().

◆ setClampingThresMin()

void octomap::AbstractOccupancyOcTree::setClampingThresMin ( double thresProb )

inline

sets the minimum threshold for occupancy clamping (sensor model)

References clamping_thres_min, and octomap::logodds().

Referenced by AbstractOccupancyOcTree(), and main().

◆ setOccupancyThres()

void octomap::AbstractOccupancyOcTree::setOccupancyThres ( double prob )

inline

sets the threshold for occupancy (sensor model)

References octomap::logodds(), and occ_prob_thres_log.

Referenced by AbstractOccupancyOcTree(), and main().

◆ setProbHit()

void octomap::AbstractOccupancyOcTree::setProbHit ( double prob )

inline

sets the probability for a "hit" (will be converted to logodds) - sensor model

References octomap::logodds(), and prob_hit_log.

Referenced by AbstractOccupancyOcTree(), and main().

◆ setProbMiss()

void octomap::AbstractOccupancyOcTree::setProbMiss ( double prob )

inline

sets the probability for a "miss" (will be converted to logodds) - sensor model

References octomap::logodds(), and prob_miss_log.

Referenced by AbstractOccupancyOcTree(), and main().

◆ setResolution()

virtual void octomap::AbstractOcTree::setResolution ( double res )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Referenced by createTree(), and octomap::AbstractOccupancyOcTree::readBinary().

◆ size()

virtual size_t octomap::AbstractOcTree::size ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Referenced by main(), read(), octomap::AbstractOccupancyOcTree::readBinary(), octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader(), readHeader(), write(), octomap::OccupancyOcTreeBase< ColorOcTreeNode >::write(), and writeData().

◆ toMaxLikelihood()

virtual void octomap::AbstractOccupancyOcTree::toMaxLikelihood ( )

pure virtual

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

Referenced by writeBinary().

◆ updateNode() [1/4]

virtual OcTreeNode * octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = false )

pure virtual

Integrate occupancy measurement.

Parameters

key	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

Implemented in octomap::OccupancyOcTreeBase< NODE >.

◆ updateNode() [2/4]

virtual OcTreeNode * octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = false )

pure virtual

Manipulate log_odds value of voxel directly.

Parameters

key	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

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ updateNode() [3/4]

virtual OcTreeNode * octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = false )

pure virtual

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

Implemented in octomap::OccupancyOcTreeBase< NODE >.

◆ updateNode() [4/4]

virtual OcTreeNode * octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = false )

pure virtual

Manipulate log_odds value of voxel directly.

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
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

Implemented in octomap::OccupancyOcTreeBase< NODE >.

◆ write() [1/2]

bool octomap::AbstractOcTree::write ( const std::string & filename ) const

inherited

Write file header and complete tree to file (serialization)

References OCTOMAP_ERROR_STR, and write().

Referenced by main(), main(), and write().

◆ write() [2/2]

bool octomap::AbstractOcTree::write ( std::ostream & s ) const

inherited

Write file header and complete tree to stream (serialization)

References fileHeader, getResolution(), getTreeType(), size(), and writeData().

◆ writeBinary() [1/2]

bool octomap::AbstractOccupancyOcTree::writeBinary ( const std::string & filename )

Writes OcTree to a binary file using writeBinary().

The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns: success of operation

References OCTOMAP_ERROR_STR, and writeBinary().

Referenced by main(), main(), and writeBinary().

◆ writeBinary() [2/2]

bool octomap::AbstractOccupancyOcTree::writeBinary ( std::ostream & s )

Writes compressed maximum likelihood OcTree to a binary stream.

The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns: success of operation

References octomap::AbstractOcTree::prune(), toMaxLikelihood(), and writeBinaryConst().

◆ writeBinaryConst() [1/2]

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( const std::string & filename ) const

Writes OcTree to a binary file using writeBinaryConst().

The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns: success of operation

Referenced by writeBinary().

◆ writeBinaryConst() [2/2]

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( std::ostream & s ) const

Writes the maximum likelihood OcTree to a binary stream (const variant).

Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns: success of operation

◆ writeBinaryData()

virtual std::ostream & octomap::AbstractOccupancyOcTree::writeBinaryData ( std::ostream & s ) const

pure virtual

Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

◆ writeData()

virtual std::ostream & octomap::AbstractOcTree::writeData ( std::ostream & s ) const

pure virtualinherited

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

Implemented in octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

References AbstractOcTree(), and size().

Referenced by write().

Field Documentation

◆ binaryFileHeader

const std::string octomap::AbstractOccupancyOcTree::binaryFileHeader = "# Octomap OcTree binary file"

staticprotected

Referenced by readBinary().

◆ clamping_thres_max

float octomap::AbstractOccupancyOcTree::clamping_thres_max

protected

Referenced by getClampingThresMax(), getClampingThresMaxLog(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), octomap::OccupancyOcTreeBase< NODE >::readBinaryNode(), setClampingThresMax(), octomap::OccupancyOcTreeBase< NODE >::setNodeValue(), and octomap::OccupancyOcTreeBase< NODE >::updateNodeLogOdds().

◆ clamping_thres_min

float octomap::AbstractOccupancyOcTree::clamping_thres_min

protected

Referenced by getClampingThresMin(), getClampingThresMinLog(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), octomap::OccupancyOcTreeBase< NODE >::readBinaryNode(), setClampingThresMin(), octomap::OccupancyOcTreeBase< NODE >::setNodeValue(), octomap::OccupancyOcTreeBase< NODE >::updateNode(), and octomap::OccupancyOcTreeBase< NODE >::updateNodeLogOdds().

◆ fileHeader

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file"

staticprotectedinherited

Referenced by read(), and write().

◆ occ_prob_thres_log

float octomap::AbstractOccupancyOcTree::occ_prob_thres_log

protected

Referenced by getOccupancyThres(), getOccupancyThresLog(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), and setOccupancyThres().

◆ prob_hit_log

float octomap::AbstractOccupancyOcTree::prob_hit_log

protected

Referenced by getProbHit(), getProbHitLog(), octomap::OccupancyOcTreeBase< NODE >::integrateHit(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), setProbHit(), and octomap::OccupancyOcTreeBase< NODE >::updateNode().

◆ prob_miss_log

float octomap::AbstractOccupancyOcTree::prob_miss_log

protected

Referenced by getProbMiss(), getProbMissLog(), octomap::OccupancyOcTreeBase< NODE >::integrateMiss(), octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase(), setProbMiss(), and octomap::OccupancyOcTreeBase< NODE >::updateNode().

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

include/octomap/AbstractOccupancyOcTree.h
src/AbstractOccupancyOcTree.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AbstractOccupancyOcTree()

◆ ~AbstractOccupancyOcTree()

Member Function Documentation

◆ clear()

◆ create()

◆ createTree()

◆ expand()

◆ getClampingThresMax()

◆ getClampingThresMaxLog()

◆ getClampingThresMin()

◆ getClampingThresMinLog()

◆ getMetricMax() [1/2]

◆ getMetricMax() [2/2]

◆ getMetricMin() [1/2]

◆ getMetricMin() [2/2]

◆ getMetricSize()

◆ getOccupancyThres()

◆ getOccupancyThresLog()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ getResolution()

◆ getTreeType()

◆ isNodeAtThreshold() [1/2]

◆ isNodeAtThreshold() [2/2]

◆ isNodeOccupied() [1/2]

◆ isNodeOccupied() [2/2]

◆ memoryUsage()

◆ memoryUsageNode()

◆ prune()

◆ read() [1/2]

◆ read() [2/2]

◆ readBinary() [1/2]

◆ readBinary() [2/2]

◆ readBinaryData()

◆ readBinaryLegacyHeader()

◆ readData()

◆ readHeader()

◆ registerTreeType()

◆ setClampingThresMax()

◆ setClampingThresMin()

◆ setOccupancyThres()

◆ setProbHit()

◆ setProbMiss()

◆ setResolution()

◆ size()

◆ toMaxLikelihood()

◆ updateNode() [1/4]

◆ updateNode() [2/4]

◆ updateNode() [3/4]

◆ updateNode() [4/4]

◆ write() [1/2]

◆ write() [2/2]

◆ writeBinary() [1/2]

◆ writeBinary() [2/2]

◆ writeBinaryConst() [1/2]

◆ writeBinaryConst() [2/2]

◆ writeBinaryData()

◆ writeData()

Field Documentation

◆ binaryFileHeader

◆ clamping_thres_max

◆ clamping_thres_min

◆ fileHeader

◆ occ_prob_thres_log

◆ prob_hit_log

◆ prob_miss_log