9 #ifndef OCTOMAP_OCTREE_NODE_H 10 #define OCTOMAP_OCTREE_NODE_H 73 bool createChild(
unsigned int i);
96 double getMeanChildLogOdds()
const;
101 float getMaxChildLogOdds()
const;
105 this->setLogOdds(this->getMaxChildLogOdds());
109 void addValue(
const float& p);
void updateOccupancyChildren()
update this node's occupancy according to its children's maximum occupancy
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
double probability(double logodds)
compute probability from logodds:
double getOccupancy() const
OcTreeNode * getChild(unsigned int i)
Nodes to be used in OcTree.
Basic node in the OcTree that can hold arbitrary data of type T in value.
const OcTreeNode * getChild(unsigned int i) const
void setLogOdds(float l)
sets log odds occupancy of node
OcTreeDataNode< T > * getChild(unsigned int i)