octomap 1.9.8
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octomap::MapCollection< MAPNODE > Class Template Reference

#include <MapCollection.h>

Collaboration diagram for octomap::MapCollection< MAPNODE >:

Public Types

typedef std::vector< MAPNODE * >::const_iterator const_iterator
typedef std::vector< MAPNODE * >::iterator iterator

Public Member Functions

MAPNODE * addNode (const Pointcloud &cloud, point3d sensor_origin)
void addNode (MAPNODE *node)
iterator begin ()
const_iterator begin () const
bool castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
iterator end ()
const_iterator end () const
double getOccupancy (const point3d &p)
void insertScan (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
bool isOccupied (const point3d &p) const
bool isOccupied (float x, float y, float z) const
 MapCollection ()
 MapCollection (std::string filename)
MAPNODE * queryNode (const point3d &p)
MAPNODE * queryNode (std::string id)
bool removeNode (const MAPNODE *n)
size_t size () const
bool write (std::string filename)
bool writePointcloud (std::string filename)
 ~MapCollection ()

Protected Member Functions

MAPNODE * associate (const Pointcloud &scan)
void clear ()
bool read (std::string filename)
std::vector< Pointcloud * > segment (const Pointcloud &scan) const

Static Protected Member Functions

static std::string combinePathAndFilename (std::string path, std::string filename)
static bool readTagValue (std::string tag, std::ifstream &infile, std::string *value)
static void splitPathAndFilename (std::string &filenamefullpath, std::string *path, std::string *filename)

Protected Attributes

std::vector< MAPNODE * > nodes

Member Typedef Documentation

◆ const_iterator

template<class MAPNODE>
typedef std::vector<MAPNODE*>::const_iterator octomap::MapCollection< MAPNODE >::const_iterator

◆ iterator

template<class MAPNODE>
typedef std::vector<MAPNODE*>::iterator octomap::MapCollection< MAPNODE >::iterator

Constructor & Destructor Documentation

◆ MapCollection() [1/2]

template<class MAPNODE>
octomap::MapCollection< MAPNODE >::MapCollection ( )

◆ MapCollection() [2/2]

template<class MAPNODE>
octomap::MapCollection< MAPNODE >::MapCollection ( std::string filename)

References read().

◆ ~MapCollection()

template<class MAPNODE>
octomap::MapCollection< MAPNODE >::~MapCollection ( )

References clear().

Member Function Documentation

◆ addNode() [1/2]

template<class MAPNODE>
MAPNODE * octomap::MapCollection< MAPNODE >::addNode ( const Pointcloud & cloud,
point3d sensor_origin )

◆ addNode() [2/2]

template<class MAPNODE>
void octomap::MapCollection< MAPNODE >::addNode ( MAPNODE * node)

References nodes.

◆ associate()

template<class MAPNODE>
MAPNODE * octomap::MapCollection< MAPNODE >::associate ( const Pointcloud & scan)
protected

◆ begin() [1/2]

template<class MAPNODE>
iterator octomap::MapCollection< MAPNODE >::begin ( )
inline

References nodes.

Referenced by castRay(), getOccupancy(), isOccupied(), queryNode(), and queryNode().

◆ begin() [2/2]

template<class MAPNODE>
const_iterator octomap::MapCollection< MAPNODE >::begin ( ) const
inline

References nodes.

◆ castRay()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::castRay ( const point3d & origin,
const point3d & direction,
point3d & end,
bool ignoreUnknownCells = false,
double maxRange = -1.0 ) const

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

Referenced by main().

◆ clear()

template<class MAPNODE>
void octomap::MapCollection< MAPNODE >::clear ( )
protected

References nodes.

Referenced by ~MapCollection().

◆ combinePathAndFilename()

template<class MAPNODE>
std::string octomap::MapCollection< MAPNODE >::combinePathAndFilename ( std::string path,
std::string filename )
staticprotected

Referenced by read().

◆ end() [1/2]

template<class MAPNODE>
iterator octomap::MapCollection< MAPNODE >::end ( )
inline

References nodes.

Referenced by castRay(), getOccupancy(), isOccupied(), queryNode(), and queryNode().

◆ end() [2/2]

template<class MAPNODE>
const_iterator octomap::MapCollection< MAPNODE >::end ( ) const
inline

References nodes.

◆ getOccupancy()

template<class MAPNODE>
double octomap::MapCollection< MAPNODE >::getOccupancy ( const point3d & p)

References begin(), and end().

Referenced by main().

◆ insertScan()

template<class MAPNODE>
void octomap::MapCollection< MAPNODE >::insertScan ( const Pointcloud & scan,
const octomap::point3d & sensor_origin,
double maxrange = -1.,
bool pruning = true,
bool lazy_eval = false )

◆ isOccupied() [1/2]

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::isOccupied ( const point3d & p) const

References begin(), and end().

Referenced by isOccupied(), and main().

◆ isOccupied() [2/2]

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::isOccupied ( float x,
float y,
float z ) const

References isOccupied().

◆ queryNode() [1/2]

template<class MAPNODE>
MAPNODE * octomap::MapCollection< MAPNODE >::queryNode ( const point3d & p)

References begin(), and end().

◆ queryNode() [2/2]

template<class MAPNODE>
MAPNODE * octomap::MapCollection< MAPNODE >::queryNode ( std::string id)

References begin(), and end().

◆ read()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::read ( std::string filename)
protected

References combinePathAndFilename(), nodes, OCTOMAP_ERROR_STR, readTagValue(), and splitPathAndFilename().

Referenced by MapCollection().

◆ readTagValue()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::readTagValue ( std::string tag,
std::ifstream & infile,
std::string * value )
staticprotected

Referenced by read().

◆ removeNode()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::removeNode ( const MAPNODE * n)

◆ segment()

template<class MAPNODE>
std::vector< Pointcloud * > octomap::MapCollection< MAPNODE >::segment ( const Pointcloud & scan) const
protected

◆ size()

template<class MAPNODE>
size_t octomap::MapCollection< MAPNODE >::size ( ) const
inline

References nodes.

Referenced by main().

◆ splitPathAndFilename()

template<class MAPNODE>
void octomap::MapCollection< MAPNODE >::splitPathAndFilename ( std::string & filenamefullpath,
std::string * path,
std::string * filename )
staticprotected

Referenced by read().

◆ write()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::write ( std::string filename)

References nodes, octomath::Pose6D::pitch(), octomath::Pose6D::roll(), octomath::Pose6D::x(), octomath::Pose6D::y(), octomath::Pose6D::yaw(), and octomath::Pose6D::z().

Referenced by main().

◆ writePointcloud()

template<class MAPNODE>
bool octomap::MapCollection< MAPNODE >::writePointcloud ( std::string filename)

References nodes, octomap::Pointcloud::push_back(), and octomap::Pointcloud::writeVrml().

Field Documentation

◆ nodes

template<class MAPNODE>
std::vector<MAPNODE*> octomap::MapCollection< MAPNODE >::nodes
protected

Referenced by addNode(), begin(), begin(), clear(), end(), end(), read(), size(), write(), and writePointcloud().

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