Bounding-box leaf iterator. More...

#include <OcTreeBaseImpl.h>

Inheritance diagram for octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator:

Collaboration diagram for octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator:

Public Member Functions
point3d	getCoordinate () const
	return the center coordinate of the current node
unsigned	getDepth () const
	return depth of the current node
OcTreeKey	getIndexKey () const
const OcTreeKey &	getKey () const
double	getSize () const
double	getX () const
double	getY () const
double	getZ () const
	leaf_bbx_iterator ()
	leaf_bbx_iterator (const leaf_bbx_iterator &other)
	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *ptree, const OcTreeKey &min, const OcTreeKey &max, uint8_t depth=0)
	Constructor of the iterator.
	leaf_bbx_iterator (OcTreeBaseImpl< NodeType, INTERFACE > const *ptree, const point3d &min, const point3d &max, uint8_t depth=0)
	Constructor of the iterator.
bool	operator!= (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack.
NodeType &	operator* ()
	Return the current node in the octree which the iterator is referring to.
const NodeType &	operator* () const
	Return the current node in the octree which the iterator is referring to.
leaf_bbx_iterator &	operator++ ()
	prefix increment operator of iterator (++it)
leaf_bbx_iterator	operator++ (int)
	postfix increment operator of iterator (it++)
NodeType *	operator-> ()
	Ptr operator will return the current node in the octree which the iterator is referring to.
NodeType const *	operator-> () const
	Ptr operator will return the current node in the octree which the iterator is referring to.
bool	operator== (const iterator_base &other) const
	Comparison between iterators. First compares the tree, then stack size and top element of stack.

Data Fields
OcTreeKey	elements
	STL member.

Protected Member Functions
void	singleIncrement ()

Protected Attributes
uint8_t	maxDepth
	Maximum depth for depth-limited queries.
OcTreeKey	maxKey
OcTreeKey	minKey
std::stack< StackElement, std::vector< StackElement > >	stack
	Internal recursion stack. Apparently a stack of vector works fastest here.
OcTreeBaseImpl< NodeType, INTERFACE > const *	tree
	Octree this iterator is working on.

Detailed Description

template<class NODE, class INTERFACE>
class octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator

Bounding-box leaf iterator.

This iterator will traverse all leaf nodes within a given bounding box (axis-aligned). See below for example usage. Note that the non-trivial call to tree->end_leafs_bbx() should be done only once for efficiency!

for(OcTreeTYPE::leaf_bbx_iterator it = tree->begin_leafs_bbx(min,max),
       end=tree->end_leafs_bbx(); it!= end; ++it)
{
  //manipulate node, e.g.:
  std::cout << "Node center: " << it.getCoordinate() << std::endl;
  std::cout << "Node size: " << it.getSize() << std::endl;
  std::cout << "Node value: " << it->getValue() << std::endl;
}

Constructor & Destructor Documentation

◆ leaf_bbx_iterator() [1/4]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::leaf_bbx_iterator ( )

inline

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::maxDepth.

◆ leaf_bbx_iterator() [2/4]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	ptree,
		const point3d &	min,
		const point3d &	max,
		uint8_t	depth = 0 )

inline

Constructor of the iterator.

The bounding box corners min and max are converted into an OcTreeKey first.

Note: Due to rounding and discretization effects, nodes may be traversed that have float coordinates appearing outside of the (float) bounding box. However, the node's complete volume will include the bounding box coordinate. For a more exact control, use the constructor with OcTreeKeys instead.

Parameters

ptree	OcTreeBaseImpl on which the iterator is used on
min	Minimum point3d of the axis-aligned boundingbox
max	Maximum point3d of the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

◆ leaf_bbx_iterator() [3/4]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::leaf_bbx_iterator	(	OcTreeBaseImpl< NodeType, INTERFACE > const *	ptree,
		const OcTreeKey &	min,
		const OcTreeKey &	max,
		uint8_t	depth = 0 )

inline

Constructor of the iterator.

This version uses the exact keys as axis-aligned bounding box (including min and max).

Parameters

ptree	OcTreeBaseImpl on which the iterator is used on
min	Minimum OcTreeKey to be included in the axis-aligned boundingbox
max	Maximum OcTreeKey to be included in the axis-aligned boundingbox
depth	Maximum depth to traverse the tree. 0 (default): unlimited

◆ leaf_bbx_iterator() [4/4]

template<class NODE, class INTERFACE>

octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::leaf_bbx_iterator ( const leaf_bbx_iterator & other )

inline

Member Function Documentation

◆ getCoordinate()

template<class NODE, class INTERFACE>

point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getCoordinate ( ) const

inlineinherited

return the center coordinate of the current node

◆ getDepth()

template<class NODE, class INTERFACE>

unsigned octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getDepth ( ) const

inlineinherited

return depth of the current node

◆ getIndexKey()

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getIndexKey ( ) const

inlineinherited

Returns: the OcTreeKey of the current node, for nodes with depth != maxDepth

◆ getKey()

template<class NODE, class INTERFACE>

const OcTreeKey & octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getKey ( ) const

inlineinherited

Returns: the OcTreeKey of the current node

◆ getSize()

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getSize ( ) const

inlineinherited

Returns: the side of the volume occupied by the current node

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin().

◆ getX()

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getX ( ) const

inlineinherited

Returns: single coordinate of the current node

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin().

◆ getY()

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getY ( ) const

inlineinherited

Returns: single coordinate of the current node

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin().

◆ getZ()

template<class NODE, class INTERFACE>

double octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::getZ ( ) const

inlineinherited

Returns: single coordinate of the current node

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin().

◆ operator!=()

template<class NODE, class INTERFACE>

bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator!= ( const iterator_base & other ) const

inlineinherited

Comparison between iterators. First compares the tree, then stack size and top element of stack.

◆ operator*() [1/2]

template<class NODE, class INTERFACE>

NodeType & octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator* ( )

inlineinherited

Return the current node in the octree which the iterator is referring to.

◆ operator*() [2/2]

template<class NODE, class INTERFACE>

const NodeType & octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator* ( ) const

inlineinherited

Return the current node in the octree which the iterator is referring to.

◆ operator++() [1/2]

template<class NODE, class INTERFACE>

leaf_bbx_iterator & octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::operator++ ( )

inline

prefix increment operator of iterator (++it)

◆ operator++() [2/2]

template<class NODE, class INTERFACE>

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::operator++ ( int )

inline

postfix increment operator of iterator (it++)

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.

◆ operator->() [1/2]

template<class NODE, class INTERFACE>

NodeType * octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator-> ( )

inlineinherited

Ptr operator will return the current node in the octree which the iterator is referring to.

◆ operator->() [2/2]

template<class NODE, class INTERFACE>

NodeType const * octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator-> ( ) const

inlineinherited

Ptr operator will return the current node in the octree which the iterator is referring to.

◆ operator==()

template<class NODE, class INTERFACE>

bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator== ( const iterator_base & other ) const

inlineinherited

Comparison between iterators. First compares the tree, then stack size and top element of stack.

◆ singleIncrement()

template<class NODE, class INTERFACE>

void octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::singleIncrement ( )

inlineprotected

Field Documentation

◆ elements

OcTreeKey std::vector< OcTreeKey >::elements

inherited

STL member.

◆ maxDepth

template<class NODE, class INTERFACE>

uint8_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::maxDepth

protectedinherited

Maximum depth for depth-limited queries.

Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::leaf_bbx_iterator().

◆ maxKey

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::maxKey

protected

◆ minKey

template<class NODE, class INTERFACE>

OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::minKey

protected

◆ stack

template<class NODE, class INTERFACE>

std::stack<StackElement,std::vector<StackElement> > octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::stack

protectedinherited

Internal recursion stack. Apparently a stack of vector works fastest here.

◆ tree

template<class NODE, class INTERFACE>

OcTreeBaseImpl<NodeType,INTERFACE> const* octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::tree

protectedinherited

Octree this iterator is working on.

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

include/octomap/OcTreeBaseImpl.h

Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ leaf_bbx_iterator() [1/4]

◆ leaf_bbx_iterator() [2/4]

◆ leaf_bbx_iterator() [3/4]

◆ leaf_bbx_iterator() [4/4]

Member Function Documentation

◆ getCoordinate()

◆ getDepth()

◆ getIndexKey()

◆ getKey()

◆ getSize()

◆ getX()

◆ getY()

◆ getZ()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator++() [1/2]

◆ operator++() [2/2]

◆ operator->() [1/2]

◆ operator->() [2/2]

◆ operator==()

◆ singleIncrement()

Field Documentation

◆ elements

◆ maxDepth

◆ maxKey

◆ minKey

◆ stack

◆ tree