octomap::OccupancyOcTreeBase< NODE > Class Template Reference

Base implementation for Occupancy Octrees (e.g. More...

#include <OccupancyOcTreeBase.h>

Inheritance diagram for octomap::OccupancyOcTreeBase< NODE >:

Collaboration diagram for octomap::OccupancyOcTreeBase< NODE >:

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)
bool	bbxSet () const
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.
virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
	Performs raycasting in 3d, similar to computeRay().
KeyBoolMap::const_iterator	changedKeysBegin () const
	Iterator to traverse all keys of changed nodes.
KeyBoolMap::const_iterator	changedKeysEnd () const
	Iterator to traverse all keys of changed nodes.
void	clear ()
	Deletes the complete tree structure.
void	clearKeyRays ()
	Clear KeyRay vector to minimize unneeded memory.
void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
	Helper for insertPointCloud().
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.
void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)
	Helper for insertPointCloud().
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.
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type
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.
void	enableChangeDetection (bool enable)
	track or ignore changes while inserting scans (default: ignore)
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.
point3d	getBBXBounds () const
point3d	getBBXCenter () const
point3d	getBBXMax () const
point3d	getBBXMin () const
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)
	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
bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const
	Performs a step of the marching cubes surface reconstruction algorithm to retrieve the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.
size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes.
double	getOccupancyThres () const
float	getOccupancyThresLog () const
double	getProbHit () const
float	getProbHitLog () const
double	getProbMiss () const
float	getProbMissLog () const
virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const
	Retrieves the entry point of a ray into a voxel.
double	getResolution () const
NODE *	getRoot () const
unsigned int	getTreeDepth () const
std::string	getTreeType () const
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
bool	inBBX (const OcTreeKey &key) const
bool	inBBX (const point3d &p) const
virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.
virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP.
virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
	Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.
virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)
	Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.
virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)
	Insert one ray between origin and end into the tree.
virtual void	integrateHit (NODE *occupancyNode) const
	integrate a "hit" measurement according to the tree's sensor model
virtual void	integrateMiss (NODE *occupancyNode) const
	integrate a "miss" measurement according to the tree's sensor model
bool	isChangeDetectionEnabled () const
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
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.
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"
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.
virtual void	nodeToMaxLikelihood (NODE &occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
virtual void	nodeToMaxLikelihood (NODE *occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
size_t	numChangesDetected () const
	Number of changes since last reset.
	OccupancyOcTreeBase (const OccupancyOcTreeBase< NODE > &rhs)
	Copy constructor.
	OccupancyOcTreeBase (double resolution)
	Default constructor, sets resolution of leafs.
bool	operator== (const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &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.
bool	readBinary (const std::string &filename)
	Reads OcTree from a binary file.
bool	readBinary (std::istream &s)
	Reads an OcTree from an input stream.
std::istream &	readBinaryData (std::istream &s)
	Reads only the data (=complete tree structure) from the input stream.
std::istream &	readBinaryNode (std::istream &s, NODE *node)
	Read node from binary stream (max-likelihood value), recursively continue with all children.
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.
void	resetChangeDetection ()
	Reset the set of changed keys. Call this after you obtained all changed nodes.
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	setBBXMax (const point3d &max)
	sets the maximum for a query bounding box to use
void	setBBXMin (const point3d &min)
	sets the minimum for a query bounding box to use
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)
virtual NODE *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.
virtual NODE *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.
virtual NODE *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)
	Set log_odds value of voxel to log_odds_value.
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
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, AbstractOccupancyOcTree > &rhs)
	Swap contents of two octrees, i.e., only the underlying pointer / tree structure.
virtual void	toMaxLikelihood ()
	Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.
void	updateInnerOccupancy ()
	Updates the occupancy of all inner nodes to reflect their children's occupancy.
virtual NODE *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.
virtual NODE *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).
virtual NODE *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.
virtual NODE *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).
virtual NODE *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)
	Integrate occupancy measurement.
virtual NODE *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)
	Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).
virtual void	updateNodeLogOdds (NODE *occupancyNode, const float &update) const
	update logodds value of node by adding to the current value.
void	useBBXLimit (bool enable)
	use or ignore BBX limit (default: ignore)
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)
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).
std::ostream &	writeBinaryData (std::ostream &s) const
	Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)
std::ostream &	writeBinaryNode (std::ostream &s, const NODE *node) const
	Write node to binary stream (max-likelihood value), recursively continue with all children.
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)
virtual	~OccupancyOcTreeBase ()

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
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)
	Traces a ray from origin to end and updates all voxels on the way as free.
	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
	Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!
void	pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune()
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.
std::istream &	readNodesRecurs (NODE *, std::istream &s)
	recursive call of readData()
NODE *	setNodeValueRecurs (NODE *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)
void	toMaxLikelihoodRecurs (NODE *node, unsigned int depth, unsigned int max_depth)
void	updateInnerOccupancyRecurs (NODE *node, unsigned int depth)
NODE *	updateNodeRecurs (NODE *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)
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
point3d	bbx_max
OcTreeKey	bbx_max_key
point3d	bbx_min
OcTreeKey	bbx_min_key
KeyBoolMap	changed_keys
	Set of leaf keys (lowest level) which changed since last resetChangeDetection.
float	clamping_thres_max
float	clamping_thres_min
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)
float	occ_prob_thres_log
float	prob_hit_log
float	prob_miss_log
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)
bool	use_bbx_limit
	use bounding box for queries (needs to be set)?
bool	use_change_detection

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

Detailed Description

template<class NODE>
class octomap::OccupancyOcTreeBase< NODE >

Base implementation for Occupancy Octrees (e.g.

for mapping). AbstractOccupancyOcTree serves as a common base interface for all these classes. Each class used as NODE type needs to be derived from OccupancyOcTreeNode.

This tree implementation has a maximum depth of 16. At a resolution of 1 cm, values have to be < +/- 327.68 meters (2^15)

This limitation enables the use of an efficient key generation method which uses the binary representation of the data.

Note

The tree does not save individual points.

Template Parameters

NODE	Node class to be used in tree (usually derived from OcTreeDataNode)

Member Typedef Documentation

iterator

typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::iterator

inherited

NodeType

typedef NODE octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::NodeType

inherited

Make the templated NODE type available from the outside.

Constructor & Destructor Documentation

OccupancyOcTreeBase() [1/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase

(

double

resolution

)

Default constructor, sets resolution of leafs.

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::OcTreeBaseImpl(), use_bbx_limit, and use_change_detection.

Referenced by OccupancyOcTreeBase().

~OccupancyOcTreeBase()

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::~OccupancyOcTreeBase ( )

virtual

OccupancyOcTreeBase() [2/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase

(

const OccupancyOcTreeBase< NODE > &

rhs

)

Copy constructor.

References bbx_max, bbx_max_key, bbx_min, bbx_min_key, changed_keys, octomap::AbstractOccupancyOcTree::clamping_thres_max, octomap::AbstractOccupancyOcTree::clamping_thres_min, octomap::AbstractOccupancyOcTree::occ_prob_thres_log, OccupancyOcTreeBase(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::OcTreeBaseImpl(), octomap::AbstractOccupancyOcTree::prob_hit_log, octomap::AbstractOccupancyOcTree::prob_miss_log, use_bbx_limit, and use_change_detection.

OccupancyOcTreeBase() [3/3]

template<class NODE>

octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase ( double resolution, unsigned int tree_depth, unsigned int tree_max_val )

protected

Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::OcTreeBaseImpl(), use_bbx_limit, and use_change_detection.

Member Function Documentation

adjustKeyAtDepth()

OcTreeKey octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::adjustKeyAtDepth ( const OcTreeKey & key, unsigned int depth ) const

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()

void octomap::OcTreeBaseImpl< NODE, I >::allocNodeChildren ( NODE * node )

protectedinherited

bbxSet()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::bbxSet ( ) const

inline

References use_bbx_limit.

begin()

iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::begin ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns

beginning of the tree as leaf iterator

Referenced by boundingBoxTest(), octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay(), and main().

begin_leafs()

leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::begin_leafs ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns

beginning of the tree as leaf iterator

Referenced by boundingBoxTest(), and main().

begin_leafs_bbx()

leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::begin_leafs_bbx ( const OcTreeKey & min, const OcTreeKey & max, unsigned char maxDepth = 0 ) const

inlineinherited

Returns

beginning of the tree as leaf iterator in a bounding box

Referenced by boundingBoxTest(), and main().

begin_tree()

tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::begin_tree ( unsigned char maxDepth = 0 ) const

inlineinherited

Returns

beginning of the tree as iterator to all nodes (incl. inner)

Referenced by calcThresholdedNodes(), main(), and printChanges().

calcMinMax()

void octomap::OcTreeBaseImpl< NODE, I >::calcMinMax ( )

protectedinherited

recalculates min and max in x, y, z. Does nothing when tree size didn't change.

calcNumNodes()

size_t octomap::OcTreeBaseImpl< NODE, I >::calcNumNodes ( ) const

inherited

Traverses the tree to calculate the total number of nodes.

Referenced by main(), and main().

calcNumNodesRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::calcNumNodesRecurs ( NODE * node, size_t & num_nodes ) const

protectedinherited

castRay()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::castRay ( const point3d & origin, const point3d & direction, point3d & end, bool ignoreUnknownCells = false, double maxRange = -1.0 ) const

virtual

Performs raycasting in 3d, similar to computeRay().

Can be called in parallel e.g. with OpenMP for a speedup.

A ray is cast from 'origin' with a given direction, the first non-free cell is returned in 'end' (as center coordinate). This could also be the origin node if it is occupied or unknown. castRay() returns true if an occupied node was hit by the raycast. If the raycast returns false you can search() the node at 'end' and see whether it's unknown space.

Parameters

[in]	origin	starting coordinate of ray
[in]	direction	A vector pointing in the direction of the raycast (NOT a point in space). Does not need to be normalized.
[out]	end	returns the center of the last cell on the ray. If the function returns true, it is occupied.
[in]	ignoreUnknownCells	whether unknown cells are ignored (= treated as free). If false (default), the raycast aborts when an unknown cell is hit and returns false.
[in]	maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns

true if an occupied cell was hit, false if the maximum range or octree bounds are reached, or if an unknown node was hit.

-------— see OcTreeBase::computeRayKeys --------—

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::keyToCoord(), octomath::Vector3::normalized(), OCTOMAP_ERROR, OCTOMAP_WARNING, OCTOMAP_WARNING_STR, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::resolution, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::search(), and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_max_val.

Referenced by main().

changedKeysBegin()

template<class NODE>

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< NODE >::changedKeysBegin ( ) const

inline

Iterator to traverse all keys of changed nodes.

you need to enableChangeDetection() first. Here, an OcTreeKey always refers to a node at the lowest tree level (its size is the minimum tree resolution)

References changed_keys.

Referenced by printChanges().

changedKeysEnd()

template<class NODE>

KeyBoolMap::const_iterator octomap::OccupancyOcTreeBase< NODE >::changedKeysEnd ( ) const

inline

Iterator to traverse all keys of changed nodes.

References changed_keys.

Referenced by printChanges().

clear()

void octomap::OcTreeBaseImpl< NODE, I >::clear ( )

virtualinherited

Deletes the complete tree structure.

Implements octomap::AbstractOcTree.

Referenced by main().

clearKeyRays()

void octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::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.

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

computeDiscreteUpdate()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::computeDiscreteUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange )

Helper for insertPointCloud().

Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones. This function first discretizes the scan with the octree grid, which results in fewer raycasts (=speedup) but a slightly different result than computeUpdate().

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKey(), octomap::Pointcloud::reserve(), and octomap::Pointcloud::size().

Referenced by insertPointCloud().

computeRay()

bool octomap::OcTreeBaseImpl< NODE, I >::computeRay ( const point3d & origin, const point3d & end, std::vector< point3d > & ray )

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()

bool octomap::OcTreeBaseImpl< NODE, I >::computeRayKeys ( const point3d & origin, const point3d & end, KeyRay & ray ) const

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

Referenced by octomap::OccupancyOcTreeBase< NODE >::computeUpdate(), octomap::OccupancyOcTreeBase< NODE >::insertPointCloudRays(), and octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay().

computeUpdate()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::computeUpdate	(	const Pointcloud &	scan,
		const octomap::point3d &	origin,
		KeySet &	free_cells,
		KeySet &	occupied_cells,
		double	maxrange )

Helper for insertPointCloud().

Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones.

Parameters

scan	point cloud measurement to be integrated
origin	origin of the sensor for ray casting
free_cells	keys of nodes to be cleared
occupied_cells	keys of nodes to be marked occupied
maxrange	maximum range for raycasting (-1: unlimited)

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::computeRayKeys(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::keyrays, octomap::Pointcloud::size(), and use_bbx_limit.

Referenced by insertPointCloud(), and main().

coordToKey()

key_type octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKey ( double coordinate ) const

inlineinherited

Converts from a single coordinate into a discrete key.

Referenced by octomap::OccupancyOcTreeBase< NODE >::computeDiscreteUpdate().

coordToKeyChecked()

bool octomap::OcTreeBaseImpl< NODE, I >::coordToKeyChecked ( const point3d & coord, OcTreeKey & key ) const

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

Referenced by boundingBoxTest(), main(), main(), octomap::OccupancyOcTreeBase< NODE >::setBBXMax(), octomap::OccupancyOcTreeBase< NODE >::setBBXMin(), octomap::OccupancyOcTreeBase< NODE >::setNodeValue(), octomap::OccupancyOcTreeBase< NODE >::setNodeValue(), octomap::OccupancyOcTreeBase< NODE >::updateNode(), octomap::OccupancyOcTreeBase< NODE >::updateNode(), and octomap::OccupancyOcTreeBase< NODE >::updateNode().

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().

createNodeChild()

NODE * octomap::OcTreeBaseImpl< NODE, I >::createNodeChild ( NODE * node, unsigned int childIdx )

inherited

Creates (allocates) the i-th child of the node.

Returns

ptr to newly create NODE

Referenced by main(), and octomap::OccupancyOcTreeBase< NODE >::readBinaryNode().

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().

deleteNode()

bool octomap::OcTreeBaseImpl< NODE, I >::deleteNode ( double x, double y, double z, unsigned int depth = 0 )

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()

void octomap::OcTreeBaseImpl< NODE, I >::deleteNodeChild ( NODE * node, unsigned int childIdx )

inherited

Deletes the i-th child of the node.

Referenced by main().

deleteNodeRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::deleteNodeRecurs ( NODE * node )

protectedinherited

Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size.

enableChangeDetection()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::enableChangeDetection ( bool enable )

inline

track or ignore changes while inserting scans (default: ignore)

References use_change_detection.

Referenced by main().

end()

const iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end ( ) const

inlineinherited

Returns

end of the tree as leaf iterator

Referenced by boundingBoxTest(), octomap::OccupancyOcTreeBase< NODE >::castRay(), octomap::OccupancyOcTreeBase< NODE >::insertRay(), octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay(), and main().

end_leafs()

const leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end_leafs ( ) const

inlineinherited

Returns

end of the tree as leaf iterator

Referenced by boundingBoxTest(), and main().

end_leafs_bbx()

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end_leafs_bbx ( ) const

inlineinherited

Returns

end of the tree as leaf iterator in a bounding box

Referenced by boundingBoxTest(), and main().

end_tree()

const tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end_tree ( ) const

inlineinherited

Returns

end of the tree as iterator to all nodes (incl. inner)

Referenced by calcThresholdedNodes(), main(), and printChanges().

expand()

void octomap::OcTreeBaseImpl< NODE, I >::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.

Referenced by boundingBoxTest(), main(), main(), and printChanges().

expandNode()

void octomap::OcTreeBaseImpl< NODE, I >::expandNode ( NODE * node )

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)

Referenced by main(), and main().

expandRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::expandRecurs ( NODE * node, unsigned int depth, unsigned int max_depth )

protectedinherited

recursive call of expand()

getBBXBounds()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXBounds

(

)

const

References bbx_max, and bbx_min.

getBBXCenter()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXCenter

(

)

const

References bbx_max, and bbx_min.

getBBXMax()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXMax ( ) const

inline

Returns

the currently set maximum for bounding box queries, if set

References bbx_max.

getBBXMin()

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::getBBXMin ( ) const

inline

Returns

the currently set minimum for bounding box queries, if set

References bbx_min.

getClampingThresMax()

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const

inlineinherited

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

inlineinherited

Returns

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

References clamping_thres_max.

getClampingThresMin()

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const

inlineinherited

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

inlineinherited

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]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMax ( double & x, double & y, double & z )

virtualinherited

maximum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

Referenced by boundingBoxTest().

getMetricMin() [1/2]

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

pure virtualinherited

getMetricMin() [2/2]

void octomap::OcTreeBaseImpl< NODE, I >::getMetricMin ( double & x, double & y, double & z )

virtualinherited

minimum value of the bounding box of all known space in x, y, z

Implements octomap::AbstractOcTree.

Referenced by boundingBoxTest().

getMetricSize()

void octomap::OcTreeBaseImpl< NODE, I >::getMetricSize ( double & x, double & y, double & z )

virtualinherited

Size of OcTree (all known space) in meters for x, y and z dimension.

Implements octomap::AbstractOcTree.

Referenced by main(), and outputStatistics().

getNodeChild()

NODE * octomap::OcTreeBaseImpl< NODE, I >::getNodeChild ( NODE * node, unsigned int childIdx ) const

inherited

Returns

ptr to child number childIdx of node

Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), octomap::OccupancyOcTreeBase< NODE >::readBinaryNode(), octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihoodRecurs(), octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode().

getNodeSize()

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getNodeSize ( unsigned depth ) const

inlineinherited

getNormals()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::getNormals	(	const point3d &	point,
		std::vector< point3d > &	normals,
		bool	unknownStatus = true ) const

Performs a step of the marching cubes surface reconstruction algorithm to retrieve the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.

Parameters

[in]	point	voxel for which retrieve the normals
[out]	normals	normals of the triangles
[in]	unknownStatus	consider unknown cells as free (false) or occupied (default, true).

Returns

True if the input voxel is known in the occupancy grid, and false if it is unknown.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked(), octomath::Vector3::cross(), octomap::edgeTable, octomap::AbstractOccupancyOcTree::isNodeOccupied(), octomath::Vector3::normalize(), OCTOMAP_WARNING_STR, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::search(), octomap::triTable, and octomap::vertexList.

Referenced by main().

getNumLeafNodes()

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodes ( ) const

inherited

Traverses the tree to calculate the total number of leaf nodes.

Referenced by main(), and outputStatistics().

getNumLeafNodesRecurs()

size_t octomap::OcTreeBaseImpl< NODE, I >::getNumLeafNodesRecurs ( const NODE * parent ) const

protectedinherited

getOccupancyThres()

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const

inlineinherited

Returns

threshold (probability) for occupancy - sensor model

References occ_prob_thres_log, and octomap::probability().

getOccupancyThresLog()

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const

inlineinherited

Returns

threshold (logodds) for occupancy - sensor model

References occ_prob_thres_log.

getProbHit()

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const

inlineinherited

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

inlineinherited

Returns

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

References prob_hit_log.

getProbMiss()

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const

inlineinherited

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

inlineinherited

Returns

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

References prob_miss_log.

getRayIntersection()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::getRayIntersection ( const point3d & origin, const point3d & direction, const point3d & center, point3d & intersection, double delta = 0.0 ) const

virtual

Retrieves the entry point of a ray into a voxel.

This is the closest intersection point of the ray originating from origin and a plane of the axis aligned cube.

Parameters

[in]	origin	Starting point of ray
[in]	direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
[in]	center	The center of the voxel where the ray terminated. This is the output of castRay.
[out]	intersection	The entry point of the ray into the voxel, on the voxel surface.
[in]	delta	A small increment to avoid ambiguity of beeing exactly on a voxel surface. A positive value will get the point out of the hit voxel, while a negative valuewill get it inside.

Returns

Whether or not an intesection point has been found. Either, the ray never cross the voxel or the ray is exactly parallel to the only surface it intersect.

References octomath::Vector3::dot(), and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::resolution.

Referenced by main().

getResolution()

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getResolution ( ) const

inlinevirtualinherited

Implements octomap::AbstractOcTree.

Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), and main().

getRoot()

NODE * octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getRoot ( ) const

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.

Referenced by main().

getTreeDepth()

unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getTreeDepth ( ) const

inlineinherited

Referenced by main(), and main().

getTreeType()

std::string octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getTreeType ( ) const

inlinevirtualinherited

Implements octomap::AbstractOcTree.

getUnknownLeafCenters()

void octomap::OcTreeBaseImpl< NODE, I >::getUnknownLeafCenters ( point3d_list & node_centers, point3d pmin, point3d pmax, unsigned int depth = 0 ) const

inherited

return centers of leafs that do NOT exist (but could) in a given bounding box

inBBX() [1/2]

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::inBBX

(

const OcTreeKey &

key

)

const

Returns

true if key is in the currently set bounding box

References bbx_max_key, and bbx_min_key.

inBBX() [2/2]

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::inBBX

(

const point3d &

p

)

const

Returns

true if point is in the currently set bounding box

References bbx_max, bbx_min, octomath::Vector3::x(), octomath::Vector3::y(), and octomath::Vector3::z().

init()

void octomap::OcTreeBaseImpl< NODE, I >::init ( )

protectedinherited

initialize non-trivial members, helper for constructors

insertPointCloud() [1/3]

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud ( const Pointcloud & scan, const octomap::point3d & sensor_origin, double maxrange = -1., bool lazy_eval = false, bool discretize = false )

virtual

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note

replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

References computeDiscreteUpdate(), and computeUpdate().

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

insertPointCloud() [2/3]

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud ( const Pointcloud & scan, const point3d & sensor_origin, const pose6d & frame_origin, double maxrange = -1., bool lazy_eval = false, bool discretize = false )

virtual

Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP.

Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().

Note

replaces insertScan()

Parameters

scan	Pointcloud (measurement endpoints) relative to frame origin
sensor_origin	origin of sensor relative to frame origin
frame_origin	origin of reference frame, determines transform to be applied to cloud and sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*

References insertPointCloud(), octomap::Pointcloud::transform(), and octomath::Pose6D::transform().

insertPointCloud() [3/3]

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::insertPointCloud ( const ScanNode & scan, double maxrange = -1., bool lazy_eval = false, bool discretize = false )

virtual

Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.

Note

replaces insertScan

Parameters

scan	ScanNode contains Pointcloud data and frame/sensor origin
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
lazy_eval	whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call updateInnerOccupancy() when done.
discretize	whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.

References insertPointCloud(), octomath::Pose6D::inv(), octomap::ScanNode::pose, octomap::ScanNode::scan, octomath::Pose6D::trans(), and octomath::Pose6D::transform().

insertPointCloudRays()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::insertPointCloudRays ( const Pointcloud & scan, const point3d & sensor_origin, double maxrange = -1., bool lazy_eval = false )

virtual

Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.

This function simply inserts all rays of the point clouds as batch operation. Discretization effects can lead to the deletion of occupied space, it is usually recommended to use insertPointCloud() instead.

Parameters

scan	Pointcloud (measurement endpoints), in global reference frame
sensor_origin	measurement origin in global reference frame
maxrange	maximum range for how long individual beams are inserted (default -1: complete beam)
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.

References octomap::KeyRay::begin(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::computeRayKeys(), octomap::KeyRay::end(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::keyrays, octomap::Pointcloud::size(), and updateNode().

Referenced by main().

insertRay()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::insertRay ( const point3d & origin, const point3d & end, double maxrange = -1.0, bool lazy_eval = false )

virtual

Insert one ray between origin and end into the tree.

integrateMissOnRay() is called for the ray, the end point is updated as occupied. It is usually more efficient to insert complete pointcloudsm with insertPointCloud() or insertPointCloudRays().

Parameters

origin	origin of sensor in global coordinates
end	endpoint of measurement in global coordinates
maxrange	maximum range after which the raycast should be aborted
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

success of operation

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end(), integrateMissOnRay(), and updateNode().

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

integrateHit()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::integrateHit ( NODE * occupancyNode ) const

virtual

integrate a "hit" measurement according to the tree's sensor model

References octomap::AbstractOccupancyOcTree::prob_hit_log, and updateNodeLogOdds().

integrateMiss()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::integrateMiss ( NODE * occupancyNode ) const

virtual

integrate a "miss" measurement according to the tree's sensor model

References octomap::AbstractOccupancyOcTree::prob_miss_log, and updateNodeLogOdds().

integrateMissOnRay()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay ( const point3d & origin, const point3d & end, bool lazy_eval = false )

inlineprotected

Traces a ray from origin to end and updates all voxels on the way as free.

The volume containing "end" is not updated.

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::begin(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::computeRayKeys(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::end(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::keyrays, and updateNode().

Referenced by insertRay().

isChangeDetectionEnabled()

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::isChangeDetectionEnabled ( ) const

inline

References use_change_detection.

isNodeAtThreshold() [1/2]

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

inlineinherited

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

inlineinherited

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

References octomap::OcTreeNode::getLogOdds().

Referenced by calcThresholdedNodes().

isNodeCollapsible()

bool octomap::OcTreeBaseImpl< NODE, I >::isNodeCollapsible ( const NODE * node ) const

virtualinherited

A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.

isNodeOccupied() [1/2]

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

inlineinherited

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

inlineinherited

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().

keyToCoord()

double octomap::OcTreeBaseImpl< NODE, I >::keyToCoord ( key_type key, unsigned depth ) const

inherited

converts from a discrete key at a given depth into a coordinate corresponding to the key's center

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay(), and main().

memoryFullGrid()

unsigned long long octomap::OcTreeBaseImpl< NODE, I >::memoryFullGrid ( ) const

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!

Referenced by main(), and outputStatistics().

memoryUsage()

size_t octomap::OcTreeBaseImpl< NODE, I >::memoryUsage ( ) const

virtualinherited

Returns

Memory usage of the complete octree in bytes (may vary between architectures)

Implements octomap::AbstractOcTree.

Referenced by main(), and outputStatistics().

memoryUsageNode()

virtual size_t octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::memoryUsageNode ( ) const

inlinevirtualinherited

Returns

Memory usage of a single octree node

Implements octomap::AbstractOcTree.

nodeChildExists()

bool octomap::OcTreeBaseImpl< NODE, I >::nodeChildExists ( const NODE * node, unsigned int childIdx ) const

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

Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), main(), octomap::OccupancyOcTreeBase< NODE >::readBinaryNode(), octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihoodRecurs(), octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs(), octomap::OccupancyOcTreeBase< NODE >::updateNodeRecurs(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode().

nodeHasChildren()

bool octomap::OcTreeBaseImpl< NODE, I >::nodeHasChildren ( const NODE * node ) const

inherited

Safe test if node has any children.

Replaces node->hasChildren(...)

Returns

true if node has at least one child

Referenced by boundingBoxTest(), getLeafNodesRecurs(), getVoxelsRecurs(), main(), octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode().

nodeToMaxLikelihood() [1/2]

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood ( NODE & occupancyNode ) const

virtual

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

References octomap::AbstractOccupancyOcTree::clamping_thres_max, octomap::AbstractOccupancyOcTree::clamping_thres_min, and octomap::AbstractOccupancyOcTree::isNodeOccupied().

nodeToMaxLikelihood() [2/2]

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::nodeToMaxLikelihood ( NODE * occupancyNode ) const

virtual

converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"

References octomap::AbstractOccupancyOcTree::clamping_thres_max, octomap::AbstractOccupancyOcTree::clamping_thres_min, and octomap::AbstractOccupancyOcTree::isNodeOccupied().

Referenced by toMaxLikelihood(), and toMaxLikelihoodRecurs().

numChangesDetected()

template<class NODE>

size_t octomap::OccupancyOcTreeBase< NODE >::numChangesDetected ( ) const

inline

Number of changes since last reset.

References changed_keys.

operator==()

bool octomap::OcTreeBaseImpl< NODE, I >::operator== ( const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > & rhs ) const

inherited

Comparison between two octrees, all meta data, all nodes, and the structure must be identical.

prune()

void octomap::OcTreeBaseImpl< NODE, I >::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.

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

pruneNode()

bool octomap::OcTreeBaseImpl< NODE, I >::pruneNode ( NODE * node )

virtualinherited

Prunes a node when it is collapsible.

Returns

true if pruning was successful

Referenced by main().

pruneRecurs()

void octomap::OcTreeBaseImpl< NODE, I >::pruneRecurs ( NODE * node, unsigned int depth, unsigned int max_depth, unsigned int & num_pruned )

protectedinherited

recursive call of prune()

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);

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 )

inherited

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 )

inherited

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()

template<class NODE>

std::istream & octomap::OccupancyOcTreeBase< NODE >::readBinaryData ( std::istream & s )

virtual

Reads only the data (=complete tree structure) from the input stream.

The tree needs to be constructed with the proper header information beforehand, see readBinary().

Implements octomap::AbstractOccupancyOcTree.

References octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodes(), OCTOMAP_ERROR_STR, readBinaryNode(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::size_changed, and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_size.

readBinaryLegacyHeader()

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

protectedinherited

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

References octomap::AbstractOcTree::size().

Referenced by readBinary().

readBinaryNode()

template<class NODE>

std::istream & octomap::OccupancyOcTreeBase< NODE >::readBinaryNode	(	std::istream &	s,
		NODE *	node )

Read node from binary stream (max-likelihood value), recursively continue with all children.

This will set the log_odds_occupancy value of all leaves to either free or occupied.

References octomap::AbstractOccupancyOcTree::clamping_thres_max, octomap::AbstractOccupancyOcTree::clamping_thres_min, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::createNodeChild(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getNodeChild(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeChildExists(), and readBinaryNode().

Referenced by readBinaryData(), and readBinaryNode().

readData()

std::istream & octomap::OcTreeBaseImpl< NODE, I >::readData ( std::istream & s )

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()

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

staticprotectedinherited

References size().

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

readNodesRecurs()

std::istream & octomap::OcTreeBaseImpl< NODE, I >::readNodesRecurs ( NODE * node, std::istream & s )

protectedinherited

recursive call of readData()

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().

resetChangeDetection()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::resetChangeDetection ( )

inline

Reset the set of changed keys. Call this after you obtained all changed nodes.

References changed_keys.

search()

NODE * octomap::OcTreeBaseImpl< NODE, I >::search ( double x, double y, double z, unsigned int depth = 0 ) const

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

Referenced by boundingBoxTest(), octomap::OccupancyOcTreeBase< NODE >::castRay(), octomap::OccupancyOcTreeBase< NODE >::getNormals(), main(), main(), printChanges(), and octomap::OccupancyOcTreeBase< NODE >::updateNode().

setBBXMax()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::setBBXMax

(

const point3d &

max

)

sets the maximum for a query bounding box to use

References bbx_max, bbx_max_key, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and OCTOMAP_ERROR.

Referenced by main().

setBBXMin()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::setBBXMin

(

const point3d &

min

)

sets the minimum for a query bounding box to use

References bbx_min, bbx_min_key, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and OCTOMAP_ERROR.

Referenced by main().

setClampingThresMax()

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

inlineinherited

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 )

inlineinherited

sets the minimum threshold for occupancy clamping (sensor model)

References clamping_thres_min, and octomap::logodds().

Referenced by AbstractOccupancyOcTree(), and main().

setNodeValue() [1/3]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::setNodeValue ( const OcTreeKey & key, float log_odds_value, bool lazy_eval = false )

virtual

Set log_odds value of voxel to log_odds_value.

This only works if key is at the lowest octree level

Parameters

key	OcTreeKey of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the 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

References octomap::AbstractOccupancyOcTree::clamping_thres_max, octomap::AbstractOccupancyOcTree::clamping_thres_min, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root, and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_size.

Referenced by setNodeValue().

setNodeValue() [2/3]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::setNodeValue ( const point3d & value, float log_odds_value, bool lazy_eval = false )

virtual

Set log_odds value of voxel to log_odds_value.

Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_value	value to be set as the log_odds value of the 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

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and setNodeValue().

setNodeValue() [3/3]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::setNodeValue ( double x, double y, double z, float log_odds_value, bool lazy_eval = false )

virtual

Set log_odds value of voxel to log_odds_value.

Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.

Parameters

x
y
z
log_odds_value	value to be set as the log_odds value of the 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

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked().

setNodeValueRecurs()

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::setNodeValueRecurs ( NODE * node, bool node_just_created, const OcTreeKey & key, unsigned int depth, const float & log_odds_value, bool lazy_eval = false )

protected

setOccupancyThres()

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

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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()

void octomap::OcTreeBaseImpl< NODE, I >::setResolution ( double r )

virtualinherited

Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!

Implements octomap::AbstractOcTree.

Referenced by main().

size()

virtual size_t octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::size ( ) const

inlinevirtualinherited

Returns

The number of nodes in the tree

Implements octomap::AbstractOcTree.

Referenced by main(), main(), outputStatistics(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryData().

swapContent()

void octomap::OcTreeBaseImpl< NODE, I >::swapContent ( OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > & rhs )

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

Referenced by main().

toMaxLikelihood()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihood ( )

virtual

Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.

This enables a very efficient compression if you call prune() afterwards.

Implements octomap::AbstractOccupancyOcTree.

References nodeToMaxLikelihood(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root, and toMaxLikelihoodRecurs().

Referenced by main().

toMaxLikelihoodRecurs()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihoodRecurs ( NODE * node, unsigned int depth, unsigned int max_depth )

protected

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getNodeChild(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeChildExists(), nodeToMaxLikelihood(), and toMaxLikelihoodRecurs().

Referenced by toMaxLikelihood(), and toMaxLikelihoodRecurs().

updateInnerOccupancy()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancy

(

)

Updates the occupancy of all inner nodes to reflect their children's occupancy.

If you performed batch-updates with lazy evaluation enabled, you must call this before any queries to ensure correct multi-resolution behavior.

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root, and updateInnerOccupancyRecurs().

Referenced by main().

updateInnerOccupancyRecurs()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs ( NODE * node, unsigned int depth )

protected

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getNodeChild(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeChildExists(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeHasChildren(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_depth, and updateInnerOccupancyRecurs().

Referenced by updateInnerOccupancy(), and updateInnerOccupancyRecurs().

updateNode() [1/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( const OcTreeKey & key, bool occupied, bool lazy_eval = false )

virtual

Integrate occupancy measurement.

Parameters

key	OcTreeKey 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

Implements octomap::AbstractOccupancyOcTree.

References octomap::AbstractOccupancyOcTree::prob_hit_log, octomap::AbstractOccupancyOcTree::prob_miss_log, and updateNode().

updateNode() [2/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( const OcTreeKey & key, float log_odds_update, bool lazy_eval = false )

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

This only works if key is at the lowest octree level

Parameters

key	OcTreeKey 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

Implements octomap::AbstractOccupancyOcTree.

References octomap::AbstractOccupancyOcTree::clamping_thres_min, and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::search().

Referenced by insertPointCloudRays(), insertRay(), integrateMissOnRay(), main(), main(), updateNode(), updateNode(), updateNode(), and updateNode().

updateNode() [3/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( const point3d & value, bool occupied, bool lazy_eval = false )

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

Implements octomap::AbstractOccupancyOcTree.

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and updateNode().

updateNode() [4/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( const point3d & value, float log_odds_update, bool lazy_eval = false )

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() 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

Implements octomap::AbstractOccupancyOcTree.

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and updateNode().

updateNode() [5/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( double x, double y, double z, bool occupied, bool lazy_eval = false )

virtual

Integrate occupancy measurement.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

x
y
z
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

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::coordToKeyChecked(), and updateNode().

updateNode() [6/6]

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNode ( double x, double y, double z, float log_odds_update, bool lazy_eval = false )

virtual

Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).

Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.

Parameters

x
y
z
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

updateNodeLogOdds()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::updateNodeLogOdds ( NODE * occupancyNode, const float & update ) const

virtual

update logodds value of node by adding to the current value.

References octomap::AbstractOccupancyOcTree::clamping_thres_max, and octomap::AbstractOccupancyOcTree::clamping_thres_min.

Referenced by integrateHit(), integrateMiss(), octomap::OcTreeStamped::integrateMissNoTime(), and octomap::OcTreeStamped::updateNodeLogOdds().

updateNodeRecurs()

template<class NODE>

NODE * octomap::OccupancyOcTreeBase< NODE >::updateNodeRecurs ( NODE * node, bool node_just_created, const OcTreeKey & key, unsigned int depth, const float & log_odds_update, bool lazy_eval = false )

protected

References octomap::computeChildIdx(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeChildExists(), and octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_depth.

useBBXLimit()

template<class NODE>

void octomap::OccupancyOcTreeBase< NODE >::useBBXLimit ( bool enable )

inline

use or ignore BBX limit (default: ignore)

References use_bbx_limit.

Referenced by main().

volume()

double octomap::OcTreeBaseImpl< NODE, I >::volume ( )

inherited

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 )

inherited

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 )

inherited

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

inherited

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

inherited

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()

template<class NODE>

std::ostream & octomap::OccupancyOcTreeBase< NODE >::writeBinaryData ( std::ostream & s ) const

virtual

Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)

Implements octomap::AbstractOccupancyOcTree.

References OCTOMAP_DEBUG, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::size(), and writeBinaryNode().

writeBinaryNode()

template<class NODE>

std::ostream & octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode	(	std::ostream &	s,
		const NODE *	node ) const

Write node to binary stream (max-likelihood value), recursively continue with all children.

This will discard the log_odds_occupancy value, writing all leaves as either free or occupied.

Parameters

s
node	OcTreeNode to write out, will recurse to all children

Returns

References octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::getNodeChild(), octomap::AbstractOccupancyOcTree::isNodeOccupied(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeChildExists(), octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::nodeHasChildren(), and writeBinaryNode().

Referenced by writeBinaryData(), and writeBinaryNode().

writeData()

std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeData ( std::ostream & s ) const

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()

std::ostream & octomap::OcTreeBaseImpl< NODE, I >::writeNodesRecurs ( const NODE * node, std::ostream & s ) const

protectedinherited

recursive call of writeData()

Field Documentation

bbx_max

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::bbx_max

protected

Referenced by getBBXBounds(), getBBXCenter(), getBBXMax(), inBBX(), OccupancyOcTreeBase(), and setBBXMax().

bbx_max_key

template<class NODE>

OcTreeKey octomap::OccupancyOcTreeBase< NODE >::bbx_max_key

protected

Referenced by inBBX(), OccupancyOcTreeBase(), and setBBXMax().

bbx_min

template<class NODE>

point3d octomap::OccupancyOcTreeBase< NODE >::bbx_min

protected

Referenced by getBBXBounds(), getBBXCenter(), getBBXMin(), inBBX(), OccupancyOcTreeBase(), and setBBXMin().

bbx_min_key

template<class NODE>

OcTreeKey octomap::OccupancyOcTreeBase< NODE >::bbx_min_key

protected

Referenced by inBBX(), OccupancyOcTreeBase(), and setBBXMin().

binaryFileHeader

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

staticprotectedinherited

Referenced by readBinary().

changed_keys

template<class NODE>

KeyBoolMap octomap::OccupancyOcTreeBase< NODE >::changed_keys

protected

Set of leaf keys (lowest level) which changed since last resetChangeDetection.

Referenced by changedKeysBegin(), changedKeysEnd(), numChangesDetected(), OccupancyOcTreeBase(), and resetChangeDetection().

clamping_thres_max

float octomap::AbstractOccupancyOcTree::clamping_thres_max

protectedinherited

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

protectedinherited

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().

keyrays

std::vector<KeyRay> octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::keyrays

protectedinherited

data structure for ray casting, array for multithreading

Referenced by octomap::OccupancyOcTreeBase< NODE >::computeUpdate(), octomap::OccupancyOcTreeBase< NODE >::insertPointCloudRays(), and octomap::OccupancyOcTreeBase< NODE >::integrateMissOnRay().

leaf_iterator_bbx_end

const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::leaf_iterator_bbx_end

protectedinherited

leaf_iterator_end

const leaf_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::leaf_iterator_end

protectedinherited

max_value

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::max_value[3]

protectedinherited

max in x, y, z

min_value

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::min_value[3]

protectedinherited

min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)

occ_prob_thres_log

float octomap::AbstractOccupancyOcTree::occ_prob_thres_log

protectedinherited

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

prob_hit_log

float octomap::AbstractOccupancyOcTree::prob_hit_log

protectedinherited

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

protectedinherited

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

resolution

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::resolution

protectedinherited

in meters

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay(), and octomap::OccupancyOcTreeBase< NODE >::getRayIntersection().

resolution_factor

double octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::resolution_factor

protectedinherited

= 1. / resolution

root

NODE* octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::root

protectedinherited

Pointer to the root NODE, NULL for empty tree.

Referenced by octomap::OccupancyOcTreeBase< NODE >::readBinaryData(), octomap::OccupancyOcTreeBase< NODE >::setNodeValue(), octomap::OccupancyOcTreeBase< NODE >::toMaxLikelihood(), octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancy(), and octomap::OccupancyOcTreeBase< NODE >::writeBinaryData().

size_changed

bool octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::size_changed

protectedinherited

Referenced by octomap::OccupancyOcTreeBase< NODE >::readBinaryData().

sizeLookupTable

std::vector<double> octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::sizeLookupTable

protectedinherited

tree_center

point3d octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_center

protectedinherited

tree_depth

const unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_depth

protectedinherited

Maximum tree depth is fixed to 16 currently.

Referenced by octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancyRecurs(), and octomap::OccupancyOcTreeBase< NODE >::updateNodeRecurs().

tree_iterator_end

const tree_iterator octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_iterator_end

protectedinherited

tree_max_val

const unsigned int octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_max_val

protectedinherited

Referenced by octomap::OccupancyOcTreeBase< NODE >::castRay().

tree_size

size_t octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >::tree_size

protectedinherited

number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval)

Referenced by octomap::OccupancyOcTreeBase< NODE >::readBinaryData(), and octomap::OccupancyOcTreeBase< NODE >::setNodeValue().

use_bbx_limit

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::use_bbx_limit

protected

use bounding box for queries (needs to be set)?

Referenced by bbxSet(), computeUpdate(), OccupancyOcTreeBase(), OccupancyOcTreeBase(), OccupancyOcTreeBase(), and useBBXLimit().

use_change_detection

template<class NODE>

bool octomap::OccupancyOcTreeBase< NODE >::use_change_detection

protected

Referenced by enableChangeDetection(), isChangeDetectionEnabled(), OccupancyOcTreeBase(), OccupancyOcTreeBase(), and OccupancyOcTreeBase().

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

• include/octomap/OccupancyOcTreeBase.h
• include/octomap/OccupancyOcTreeBase.hxx