#include <OcTreeBase.h>
Public Types | |
| typedef leaf_iterator | iterator |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. | |
Public Member Functions | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values) | |
| iterator | begin (unsigned char maxDepth=0) const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. | |
| void | clear () |
| Deletes the complete tree structure. | |
| void | clearKeyRays () |
| Clear KeyRay vector to minimize unneeded memory. | |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. | |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. | |
| key_type | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. | |
| OcTreeBase< NODE > * | create () const |
| virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler) | |
| NODE * | createNodeChild (NODE *node, unsigned int childIdx) |
| Creates (allocates) the i-th child of the node. | |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| Delete a node (if exists) given a 3d point. | |
| void | deleteNodeChild (NODE *node, unsigned int childIdx) |
| Deletes the i-th child of the node. | |
| const iterator | end () const |
| const leaf_iterator | end_leafs () const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| const tree_iterator | end_tree () const |
| virtual void | expand () |
| Expands all pruned nodes (reverse of prune()) | |
| virtual void | expandNode (NODE *node) |
| Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value. | |
| virtual void | getMetricMax (double &x, double &y, double &z) const =0 |
| virtual void | getMetricMax (double &x, double &y, double &z) |
| maximum value of the bounding box of all known space in x, y, z | |
| virtual void | getMetricMin (double &x, double &y, double &z) const =0 |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. | |
| NODE * | getNodeChild (NODE *node, unsigned int childIdx) const |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. | |
| double | getResolution () const |
| NODE * | getRoot () const |
| unsigned int | getTreeDepth () const |
| std::string | getTreeType () const |
| returns actual class name as string for identification | |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box | |
| virtual bool | isNodeCollapsible (const NODE *node) const |
| A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. | |
| double | keyToCoord (key_type key, unsigned depth) const |
| converts from a discrete key at a given depth into a coordinate corresponding to the key's center | |
| unsigned long long | memoryFullGrid () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| bool | nodeChildExists (const NODE *node, unsigned int childIdx) const |
| Safe test if node has a child at index childIdx. | |
| bool | nodeHasChildren (const NODE *node) const |
| Safe test if node has any children. | |
| OcTreeBase (double res) | |
| bool | operator== (const OcTreeBaseImpl< NODE, AbstractOcTree > &rhs) const |
| Comparison between two octrees, all meta data, all nodes, and the structure must be identical. | |
| virtual void | prune () |
| Lossless compression of the octree: A node will replace all of its eight children if they have identical values. | |
| virtual bool | pruneNode (NODE *node) |
| Prunes a node when it is collapsible. | |
| std::istream & | readData (std::istream &s) |
| Read all nodes from the input stream (without file header), for this the tree needs to be already created. | |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| Search node at specified depth given a 3d point (depth=0: search full tree depth). | |
| void | setResolution (double r) |
| Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale! | |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< NODE, AbstractOcTree > &rhs) |
| Swap contents of two octrees, i.e., only the underlying pointer / tree structure. | |
| double | volume () |
| 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) | |
| std::ostream & | writeData (std::ostream &s) const |
| Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression) | |
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 | |
| void | allocNodeChildren (NODE *node) |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. | |
| void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
| void | deleteNodeRecurs (NODE *node) |
| Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size. | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() | |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() | |
| std::istream & | readNodesRecurs (NODE *, std::istream &s) |
| recursive call of readData() | |
| std::ostream & | writeNodesRecurs (const NODE *, std::ostream &s) const |
| recursive call of writeData() | |
Static Protected Member Functions | |
| static bool | readHeader (std::istream &s, std::string &id, unsigned &size, double &res) |
| static void | registerTreeType (AbstractOcTree *tree) |
Protected Attributes | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z | |
| double | min_value [3] |
| min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) | |
| double | resolution |
| in meters | |
| double | resolution_factor |
| = 1. / resolution | |
| NODE * | root |
| Pointer to the root NODE, NULL for empty tree. | |
| bool | size_changed |
| std::vector< double > | sizeLookupTable |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
| number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval) | |
Static Protected Attributes | |
| static const std::string | fileHeader = "# Octomap OcTree file" |
Member Typedef Documentation
◆ iterator
|
inherited |
◆ NodeType
|
inherited |
Make the templated NODE type available from the outside.
Constructor & Destructor Documentation
◆ OcTreeBase()
|
inline |
Referenced by create().
Member Function Documentation
◆ adjustKeyAtDepth()
|
inlineinherited |
Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
- Parameters
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns
- Key for the new depth level
◆ allocNodeChildren()
|
protectedinherited |
◆ begin()
|
inlineinherited |
- Returns
- beginning of the tree as leaf iterator
◆ begin_leafs()
|
inlineinherited |
- Returns
- beginning of the tree as leaf iterator
◆ begin_leafs_bbx()
|
inlineinherited |
- Returns
- beginning of the tree as leaf iterator in a bounding box
◆ begin_tree()
|
inlineinherited |
- Returns
- beginning of the tree as iterator to all nodes (incl. inner)
◆ calcMinMax()
|
protectedinherited |
recalculates min and max in x, y, z. Does nothing when tree size didn't change.
◆ calcNumNodes()
|
inherited |
Traverses the tree to calculate the total number of nodes.
◆ calcNumNodesRecurs()
|
protectedinherited |
◆ clear()
|
virtualinherited |
Deletes the complete tree structure.
Implements octomap::AbstractOcTree.
◆ clearKeyRays()
|
inlineinherited |
Clear KeyRay vector to minimize unneeded memory.
This is only useful for the StaticMemberInitializer classes, don't call it for an octree that is actually used.
◆ computeRay()
|
inherited |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Note
- : use the faster computeRayKeys method if possible.
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
◆ computeRayKeys()
|
inherited |
Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
◆ coordToKey()
|
inlineinherited |
Converts from a single coordinate into a discrete key.
◆ coordToKeyChecked()
|
inherited |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters
-
coord 3d coordinate of a point key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
◆ create()
|
inlinevirtual |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
Implements octomap::AbstractOcTree.
References OcTreeBase(), and octomap::OcTreeBaseImpl< NODE, AbstractOcTree >::resolution.
◆ createNodeChild()
|
inherited |
Creates (allocates) the i-th child of the node.
- Returns
- ptr to newly create NODE
◆ createTree()
|
staticinherited |
Creates a certain OcTree (factory pattern)
- Returns
- pointer to newly created OcTree (empty). NULL if the ID is unknown!
References AbstractOcTree(), OCTOMAP_ERROR, and setResolution().
◆ deleteNode()
|
inherited |
Delete a node (if exists) given a 3d point.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
◆ deleteNodeChild()
|
inherited |
Deletes the i-th child of the node.
◆ deleteNodeRecurs()
|
protectedinherited |
Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size.
◆ end()
|
inlineinherited |
- Returns
- end of the tree as leaf iterator
◆ end_leafs()
|
inlineinherited |
- Returns
- end of the tree as leaf iterator
◆ end_leafs_bbx()
|
inlineinherited |
- Returns
- end of the tree as leaf iterator in a bounding box
◆ end_tree()
|
inlineinherited |
- Returns
- end of the tree as iterator to all nodes (incl. inner)
◆ expand()
|
virtualinherited |
Expands all pruned nodes (reverse of prune())
- Note
- This is an expensive operation, especially when the tree is nearly empty!
Implements octomap::AbstractOcTree.
◆ expandNode()
|
virtualinherited |
Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.
You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)
◆ expandRecurs()
|
protectedinherited |
recursive call of expand()
◆ getMetricMax() [1/2]
|
pure virtualinherited |
◆ getMetricMax() [2/2]
|
virtualinherited |
maximum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
◆ getMetricMin() [1/2]
|
pure virtualinherited |
◆ getMetricMin() [2/2]
|
virtualinherited |
minimum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
◆ getMetricSize()
|
virtualinherited |
Size of OcTree (all known space) in meters for x, y and z dimension.
Implements octomap::AbstractOcTree.
◆ getNodeChild()
|
inherited |
- Returns
- ptr to child number childIdx of node
◆ getNodeSize()
|
inlineinherited |
◆ getNumLeafNodes()
|
inherited |
Traverses the tree to calculate the total number of leaf nodes.
◆ getNumLeafNodesRecurs()
|
protectedinherited |
◆ getResolution()
|
inlinevirtualinherited |
Implements octomap::AbstractOcTree.
◆ getRoot()
|
inlineinherited |
- Returns
- Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself. In an empty tree, root is NULL.
◆ getTreeDepth()
|
inlineinherited |
◆ getTreeType()
|
inlinevirtual |
returns actual class name as string for identification
Implements octomap::AbstractOcTree.
◆ getUnknownLeafCenters()
|
inherited |
return centers of leafs that do NOT exist (but could) in a given bounding box
◆ init()
|
protectedinherited |
initialize non-trivial members, helper for constructors
◆ isNodeCollapsible()
|
virtualinherited |
A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
◆ keyToCoord()
|
inherited |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
◆ memoryFullGrid()
|
inherited |
- Returns
- Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
- Note
- this can be larger than the adressable memory - size_t may not be enough to hold it!
◆ memoryUsage()
|
virtualinherited |
- Returns
- Memory usage of the complete octree in bytes (may vary between architectures)
Implements octomap::AbstractOcTree.
◆ memoryUsageNode()
|
inlinevirtualinherited |
- Returns
- Memory usage of a single octree node
Implements octomap::AbstractOcTree.
◆ nodeChildExists()
|
inherited |
Safe test if node has a child at index childIdx.
First tests if there are any children. Replaces node->childExists(...)
- Returns
- true if the child at childIdx exists
◆ nodeHasChildren()
|
inherited |
Safe test if node has any children.
Replaces node->hasChildren(...)
- Returns
- true if node has at least one child
◆ operator==()
|
inherited |
Comparison between two octrees, all meta data, all nodes, and the structure must be identical.
◆ prune()
|
virtualinherited |
Lossless compression of the octree: A node will replace all of its eight children if they have identical values.
You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.
Implements octomap::AbstractOcTree.
◆ pruneNode()
|
virtualinherited |
Prunes a node when it is collapsible.
- Returns
- true if pruning was successful
◆ pruneRecurs()
|
protectedinherited |
recursive call of prune()
◆ read() [1/2]
|
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:
References AbstractOcTree(), OCTOMAP_ERROR_STR, and read().
◆ read() [2/2]
|
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().
◆ readData()
|
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.
Implements octomap::AbstractOcTree.
◆ readHeader()
|
staticprotectedinherited |
References size().
Referenced by read(), and octomap::AbstractOccupancyOcTree::readBinary().
◆ readNodesRecurs()
|
protectedinherited |
recursive call of readData()
◆ registerTreeType()
|
staticprotectedinherited |
References AbstractOcTree(), and getTreeType().
Referenced by octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), and octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer().
◆ search()
|
inherited |
Search node at specified depth given a 3d point (depth=0: search full tree depth).
You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
◆ setResolution()
|
virtualinherited |
Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!
Implements octomap::AbstractOcTree.
◆ size()
|
inlinevirtualinherited |
- Returns
- The number of nodes in the tree
Implements octomap::AbstractOcTree.
◆ swapContent()
|
inherited |
Swap contents of two octrees, i.e., only the underlying pointer / tree structure.
You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function
◆ volume()
|
inherited |
◆ write() [1/2]
|
inherited |
Write file header and complete tree to file (serialization)
References OCTOMAP_ERROR_STR, and write().
◆ write() [2/2]
|
inherited |
Write file header and complete tree to stream (serialization)
References fileHeader, getResolution(), getTreeType(), size(), and writeData().
◆ writeData()
|
virtualinherited |
Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)
Implements octomap::AbstractOcTree.
◆ writeNodesRecurs()
|
protectedinherited |
recursive call of writeData()
Field Documentation
◆ fileHeader
|
staticprotectedinherited |
◆ keyrays
|
protectedinherited |
data structure for ray casting, array for multithreading
◆ leaf_iterator_bbx_end
|
protectedinherited |
◆ leaf_iterator_end
|
protectedinherited |
◆ max_value
|
protectedinherited |
max in x, y, z
◆ min_value
|
protectedinherited |
min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
◆ resolution
|
protectedinherited |
in meters
Referenced by octomap::OcTreeBase< NODE >::create().
◆ resolution_factor
|
protectedinherited |
= 1. / resolution
◆ root
|
protectedinherited |
Pointer to the root NODE, NULL for empty tree.
◆ size_changed
|
protectedinherited |
◆ sizeLookupTable
|
protectedinherited |
◆ tree_center
|
protectedinherited |
◆ tree_depth
|
protectedinherited |
Maximum tree depth is fixed to 16 currently.
◆ tree_iterator_end
|
protectedinherited |
◆ tree_max_val
|
protectedinherited |
◆ tree_size
|
protectedinherited |
number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval)
The documentation for this class was generated from the following file:
- include/octomap/OcTreeBase.h
