#include <ColorOcTree.h>

Inheritance diagram for octomap::ColorOcTreeNode:

Collaboration diagram for octomap::ColorOcTreeNode:

Data Structures
class	Color

Public Types
typedef float	DataType
	Make the templated data type available from the outside.

Public Member Functions
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!)
	ColorOcTreeNode ()
	ColorOcTreeNode (const ColorOcTreeNode &rhs)
void	copyData (const ColorOcTreeNode &from)
void	copyData (const OcTreeDataNode &from)
	Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well.
ColorOcTreeNode::Color	getAverageChildColor () const
Color &	getColor ()
Color	getColor () const
float	getLogOdds () const
float	getMaxChildLogOdds () const
double	getMeanChildLogOdds () const
double	getOccupancy () const
float	getValue () const
bool	isColorSet () const
	OCTOMAP_DEPRECATED (bool childExists(unsigned int i) const)
	Test whether the i-th child exists.
bool	operator== (const ColorOcTreeNode &rhs) const
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical.
std::istream &	readData (std::istream &s)
void	setColor (Color c)
void	setColor (uint8_t r, uint8_t g, uint8_t b)
void	setLogOdds (float l)
	sets log odds occupancy of node
void	setValue (float v)
	sets value to be stored in the node
void	updateColorChildren ()
void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy
std::ostream &	writeData (std::ostream &s) const

Protected Member Functions
void	allocChildren ()

Protected Attributes
AbstractOcTreeNode **	children
	pointer to array of children, may be NULL
Color	color
float	value
	stored data (payload)

Friends
class	ColorOcTree

Member Typedef Documentation

◆ DataType

typedef float octomap::OcTreeDataNode< float >::DataType

inherited

Make the templated data type available from the outside.

Constructor & Destructor Documentation

◆ ColorOcTreeNode() [1/2]

octomap::ColorOcTreeNode::ColorOcTreeNode ( )

inline

References octomap::OcTreeNode::OcTreeNode().

Referenced by ColorOcTreeNode(), copyData(), getAverageChildColor(), and operator==().

◆ ColorOcTreeNode() [2/2]

octomap::ColorOcTreeNode::ColorOcTreeNode ( const ColorOcTreeNode & rhs )

inline

References color, ColorOcTreeNode(), and octomap::OcTreeNode::OcTreeNode().

Member Function Documentation

◆ addValue()

void octomap::OcTreeNode::addValue ( const float & p )

inherited

adds p to the node's logOdds value (with no boundary / threshold checking!)

References octomap::OcTreeDataNode< float >::value.

◆ allocChildren()

void octomap::OcTreeDataNode< float >::allocChildren ( )

protectedinherited

◆ copyData() [1/2]

void octomap::ColorOcTreeNode::copyData ( const ColorOcTreeNode & from )

inline

References color, ColorOcTreeNode(), octomap::OcTreeDataNode< float >::copyData(), and getColor().

Referenced by octomap::ColorOcTree::pruneNode().

◆ copyData() [2/2]

void octomap::OcTreeDataNode< float >::copyData ( const OcTreeDataNode< float > & from )

inherited

Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone the children as well.

Referenced by octomap::ColorOcTreeNode::copyData(), and octomap::OcTreeNodeStamped::copyData().

◆ getAverageChildColor()

ColorOcTreeNode::Color octomap::ColorOcTreeNode::getAverageChildColor ( ) const

References octomap::ColorOcTreeNode::Color::b, octomap::OcTreeDataNode< float >::children, ColorOcTreeNode(), octomap::ColorOcTreeNode::Color::g, getColor(), isColorSet(), and octomap::ColorOcTreeNode::Color::r.

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

◆ getColor() [1/2]

Color & octomap::ColorOcTreeNode::getColor ( )

inline

References color.

◆ getColor() [2/2]

Color octomap::ColorOcTreeNode::getColor ( ) const

inline

References color.

Referenced by octomap::ColorOcTree::averageNodeColor(), copyData(), getAverageChildColor(), octomap::ColorOcTree::integrateNodeColor(), main(), main(), and print_query_info().

◆ getLogOdds()

float octomap::OcTreeNode::getLogOdds ( ) const

inlineinherited

Returns: log odds representation of occupancy probability of node

References octomap::OcTreeDataNode< float >::value.

Referenced by getMaxChildLogOdds(), octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), and main().

◆ getMaxChildLogOdds()

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

inherited

Returns: maximum of children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::children, getLogOdds(), and OcTreeNode().

Referenced by updateOccupancyChildren(), and octomap::OcTreeNodeStamped::updateOccupancyChildren().

◆ getMeanChildLogOdds()

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

inherited

Returns: mean of all children's occupancy probabilities, in log odds

References octomap::OcTreeDataNode< float >::children, getOccupancy(), and OcTreeNode().

◆ getOccupancy()

double octomap::OcTreeNode::getOccupancy ( ) const

inlineinherited

Returns: occupancy probability of node

References octomap::probability(), and octomap::OcTreeDataNode< float >::value.

Referenced by getMeanChildLogOdds(), octomap::ColorOcTree::integrateNodeColor(), main(), print_query_info(), and print_query_info().

◆ getValue()

float octomap::OcTreeDataNode< float >::getValue ( ) const

inlineinherited

Returns: value stored in the node

◆ isColorSet()

bool octomap::ColorOcTreeNode::isColorSet ( ) const

inline

References color.

Referenced by octomap::ColorOcTree::averageNodeColor(), getAverageChildColor(), octomap::ColorOcTree::integrateNodeColor(), and octomap::ColorOcTree::pruneNode().

◆ OCTOMAP_DEPRECATED()

octomap::OcTreeDataNode< float >::OCTOMAP_DEPRECATED ( bool childExists(unsigned int i) const )

inherited

Test whether the i-th child exists.

Returns: true if the i-th child exists

◆ operator==() [1/2]

bool octomap::ColorOcTreeNode::operator== ( const ColorOcTreeNode & rhs ) const

inline

References color, ColorOcTreeNode(), octomap::OcTreeDataNode< T >::value, and octomap::OcTreeDataNode< float >::value.

◆ operator==() [2/2]

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

inherited

Equals operator, compares if the stored value is identical.

◆ readData()

std::istream & octomap::ColorOcTreeNode::readData ( std::istream & s )

References color, and octomap::OcTreeDataNode< float >::value.

◆ setColor() [1/2]

void octomap::ColorOcTreeNode::setColor ( Color c )

inline

References color.

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

◆ setColor() [2/2]

void octomap::ColorOcTreeNode::setColor	(	uint8_t	r,
		uint8_t	g,
		uint8_t	b )

inline

References color.

◆ setLogOdds()

void octomap::OcTreeNode::setLogOdds ( float l )

inlineinherited

sets log odds occupancy of node

References octomap::OcTreeDataNode< float >::value.

Referenced by updateOccupancyChildren(), and octomap::OcTreeNodeStamped::updateOccupancyChildren().

◆ setValue()

void octomap::OcTreeDataNode< float >::setValue ( float v )

inlineinherited

sets value to be stored in the node

◆ updateColorChildren()

void octomap::ColorOcTreeNode::updateColorChildren ( )

References color, and getAverageChildColor().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

◆ updateOccupancyChildren()

void octomap::OcTreeNode::updateOccupancyChildren ( )

inlineinherited

update this node's occupancy according to its children's maximum occupancy

References getMaxChildLogOdds(), and setLogOdds().

Referenced by octomap::ColorOcTree::updateInnerOccupancyRecurs().

◆ writeData()

std::ostream & octomap::ColorOcTreeNode::writeData ( std::ostream & s ) const

References color, and octomap::OcTreeDataNode< float >::value.

◆ ColorOcTree

friend class ColorOcTree

friend

References ColorOcTree.

Referenced by ColorOcTree.

Field Documentation

◆ children

AbstractOcTreeNode** octomap::OcTreeDataNode< float >::children

protectedinherited

pointer to array of children, may be NULL

Note: The tree class manages this pointer, the array, and the memory for it! The children of a node are always enforced to be the same type as the node

Referenced by octomap::ColorOcTreeNode::getAverageChildColor(), octomap::OcTreeNode::getMaxChildLogOdds(), and octomap::OcTreeNode::getMeanChildLogOdds().

◆ color

Color octomap::ColorOcTreeNode::color

protected

Referenced by ColorOcTreeNode(), copyData(), getColor(), getColor(), isColorSet(), operator==(), readData(), setColor(), setColor(), updateColorChildren(), and writeData().

◆ value

float octomap::OcTreeDataNode< float >::value

protectedinherited

stored data (payload)

Referenced by octomap::OcTreeNode::addValue(), octomap::OcTreeNode::getLogOdds(), octomap::OcTreeNode::getOccupancy(), octomap::ColorOcTreeNode::operator==(), octomap::OcTreeNodeStamped::operator==(), octomap::ColorOcTreeNode::readData(), octomap::OcTreeNode::setLogOdds(), and octomap::ColorOcTreeNode::writeData().

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

include/octomap/ColorOcTree.h
src/ColorOcTree.cpp

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ DataType

Constructor & Destructor Documentation

◆ ColorOcTreeNode() [1/2]

◆ ColorOcTreeNode() [2/2]

Member Function Documentation

◆ addValue()

◆ allocChildren()

◆ copyData() [1/2]

◆ copyData() [2/2]

◆ getAverageChildColor()

◆ getColor() [1/2]

◆ getColor() [2/2]

◆ getLogOdds()

◆ getMaxChildLogOdds()

◆ getMeanChildLogOdds()

◆ getOccupancy()

◆ getValue()

◆ isColorSet()

◆ OCTOMAP_DEPRECATED()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ readData()

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setLogOdds()

◆ setValue()

◆ updateColorChildren()

◆ updateOccupancyChildren()

◆ writeData()

Friends And Related Symbol Documentation

◆ ColorOcTree

Field Documentation

◆ children

◆ color

◆ value