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octomap::ColorOcTreeNode Class Reference

Detailed Description

Definition at line 59 of file ColorOcTree.h.

#include <mrpt/otherlibs/octomap/ColorOcTree.h>

Inheritance diagram for octomap::ColorOcTreeNode:
Inheritance graph

Classes

class  Color
 

Public Types

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

Public Member Functions

 ColorOcTreeNode ()
 
 ColorOcTreeNode (const ColorOcTreeNode &rhs)
 
bool operator== (const ColorOcTreeNode &rhs) const
 
ColorOcTreeNodegetChild (unsigned int i)
 
const ColorOcTreeNodegetChild (unsigned int i) const
 
bool createChild (unsigned int i)
 
bool pruneNode ()
 
void expandNode ()
 
Color getColor () const
 
void setColor (Color c)
 
void setColor (unsigned char r, unsigned char g, unsigned char b)
 
ColorgetColor ()
 
bool isColorSet () const
 
void updateColorChildren ()
 
ColorOcTreeNode::Color getAverageChildColor () const
 
std::istream & readValue (std::istream &s)
 
std::ostream & writeValue (std::ostream &s) const
 
double getOccupancy () const
 
float getLogOdds () const
 
void setLogOdds (float l)
 sets log odds occupancy of node More...
 
double getMeanChildLogOdds () const
 
float getMaxChildLogOdds () const
 
void updateOccupancyChildren ()
 update this node's occupancy according to its children's maximum occupancy More...
 
void addValue (const float &p)
 adds p to the node's logOdds value (with no boundary / threshold checking!) More...
 
bool operator== (const OcTreeDataNode &rhs) const
 Equals operator, compares if the stored value is identical. More...
 
bool childExists (unsigned int i) const
 
bool hasChildren () const
 
bool collapsible () const
 A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. More...
 
void deleteChild (unsigned int i)
 Deletes the i-th child of the node. More...
 
float getValue () const
 
void setValue (floatv)
 sets value to be stored in the node More...
 

Protected Member Functions

void allocChildren ()
 

Protected Attributes

Color color
 
OcTreeDataNode< float > ** children
 pointer to array of children, may be NULL More...
 
float value
 stored data (payload) More...
 

Member Typedef Documentation

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

Make the templated data type available from the outside.

Definition at line 156 of file OcTreeDataNode.h.

Constructor & Destructor Documentation

octomap::ColorOcTreeNode::ColorOcTreeNode ( )
inline

Definition at line 77 of file ColorOcTree.h.

Referenced by createChild().

octomap::ColorOcTreeNode::ColorOcTreeNode ( const ColorOcTreeNode rhs)
inline

Definition at line 79 of file ColorOcTree.h.

Member Function Documentation

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

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

void octomap::OcTreeDataNode< float >::allocChildren ( )
protectedinherited
bool octomap::OcTreeDataNode< float >::childExists ( unsigned int  i) const
inherited
Returns
true if the i-th child exists
bool octomap::OcTreeDataNode< float >::collapsible ( ) const
inherited

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

bool octomap::ColorOcTreeNode::createChild ( unsigned int  i)
inline
void octomap::OcTreeDataNode< float >::deleteChild ( unsigned int  i)
inherited

Deletes the i-th child of the node.

void octomap::ColorOcTreeNode::expandNode ( )

Referenced by createChild().

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

Referenced by isColorSet().

ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int  i)
inline

Definition at line 86 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

const ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int  i) const
inline

Definition at line 89 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

Color octomap::ColorOcTreeNode::getColor ( ) const
inline

Definition at line 102 of file ColorOcTree.h.

References color.

Color& octomap::ColorOcTreeNode::getColor ( )
inline

Definition at line 108 of file ColorOcTree.h.

References color.

float octomap::OcTreeNode::getLogOdds ( ) const
inlineinherited
Returns
log odds representation of occupancy probability of node

Definition at line 89 of file OcTreeNode.h.

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

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const
inherited
Returns
maximum of children's occupancy probabilities, in log odds

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

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const
inherited
Returns
mean of all children's occupancy probabilities, in log odds
double octomap::OcTreeNode::getOccupancy ( ) const
inlineinherited
Returns
occupancy probability of node

Definition at line 86 of file OcTreeNode.h.

References octomap::probability().

float octomap::OcTreeDataNode< float >::getValue ( ) const
inlineinherited
Returns
value stored in the node

Definition at line 129 of file OcTreeDataNode.h.

bool octomap::OcTreeDataNode< float >::hasChildren ( ) const
inherited
Returns
true if the node has at least one child
bool octomap::ColorOcTreeNode::isColorSet ( ) const
inline
bool octomap::ColorOcTreeNode::operator== ( const ColorOcTreeNode rhs) const
inline
bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > &  rhs) const
inherited

Equals operator, compares if the stored value is identical.

bool octomap::ColorOcTreeNode::pruneNode ( )

Referenced by createChild().

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

Referenced by isColorSet().

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

Definition at line 103 of file ColorOcTree.h.

References color.

void octomap::ColorOcTreeNode::setColor ( unsigned char  r,
unsigned char  g,
unsigned char  b 
)
inline

Definition at line 104 of file ColorOcTree.h.

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

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

sets log odds occupancy of node

Definition at line 91 of file OcTreeNode.h.

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

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

sets value to be stored in the node

Definition at line 131 of file OcTreeDataNode.h.

void octomap::ColorOcTreeNode::updateColorChildren ( )

Referenced by isColorSet().

void octomap::OcTreeNode::updateOccupancyChildren ( )
inlineinherited

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

Definition at line 104 of file OcTreeNode.h.

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

Referenced by isColorSet().

Member Data Documentation

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

pointer to array of children, may be NULL

Definition at line 163 of file OcTreeDataNode.h.

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

Color octomap::ColorOcTreeNode::color
protected

Definition at line 125 of file ColorOcTree.h.

Referenced by getColor(), isColorSet(), operator==(), and setColor().

float octomap::OcTreeDataNode< float >::value
protectedinherited

stored data (payload)

Definition at line 165 of file OcTreeDataNode.h.

Referenced by octomap::OcTreeNodeStamped::operator==(), and operator==().




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