Definition at line 58 of file OcTreeStamped.h.
#include <mrpt/otherlibs/octomap/OcTreeStamped.h>
Public Types | |
typedef float | DataType |
Make the templated data type available from the outside. More... | |
Public Member Functions | |
OcTreeNodeStamped () | |
OcTreeNodeStamped (const OcTreeNodeStamped &rhs) | |
bool | operator== (const OcTreeNodeStamped &rhs) const |
OcTreeNodeStamped * | getChild (unsigned int i) |
const OcTreeNodeStamped * | getChild (unsigned int i) const |
bool | createChild (unsigned int i) |
unsigned int | getTimestamp () const |
void | updateTimestamp () |
void | setTimestamp (unsigned int timestamp) |
void | updateOccupancyChildren () |
double | getOccupancy () const |
float | getLogOdds () const |
void | setLogOdds (float l) |
sets log odds occupancy of node More... | |
double | getMeanChildLogOdds () const |
float | getMaxChildLogOdds () const |
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... | |
bool | pruneNode () |
Prunes a node when it is collapsible. More... | |
void | expandNode () |
Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value. More... | |
float | getValue () const |
void | setValue (floatv) |
sets value to be stored in the node More... | |
std::istream & | readValue (std::istream &s) |
Read node from binary stream (incl. More... | |
std::ostream & | writeValue (std::ostream &s) const |
Write node to binary stream (incl float value), recursively continue with all children. More... | |
Protected Member Functions | |
void | allocChildren () |
Protected Attributes | |
unsigned int | timestamp |
OcTreeDataNode< float > ** | children |
pointer to array of children, may be NULL More... | |
float | value |
stored data (payload) More... | |
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inherited |
Make the templated data type available from the outside.
Definition at line 156 of file OcTreeDataNode.h.
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inline |
Definition at line 61 of file OcTreeStamped.h.
Referenced by createChild().
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inline |
Definition at line 63 of file OcTreeStamped.h.
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inherited |
adds p to the node's logOdds value (with no boundary / threshold checking!)
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protectedinherited |
Referenced by createChild(), and octomap::ColorOcTreeNode::createChild().
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inherited |
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inherited |
A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
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inline |
Definition at line 77 of file OcTreeStamped.h.
References octomap::OcTreeDataNode< float >::allocChildren(), octomap::OcTreeDataNode< float >::children, and OcTreeNodeStamped().
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inherited |
Deletes the i-th child of the node.
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inherited |
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)
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inline |
Definition at line 70 of file OcTreeStamped.h.
References octomap::OcTreeNode::getChild().
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inline |
Definition at line 73 of file OcTreeStamped.h.
References octomap::OcTreeNode::getChild().
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inlineinherited |
Definition at line 89 of file OcTreeNode.h.
Referenced by octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), and octomap::AbstractOccupancyOcTree::isNodeOccupied().
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inherited |
Referenced by updateOccupancyChildren().
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inherited |
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inlineinherited |
Definition at line 86 of file OcTreeNode.h.
References octomap::probability().
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inline |
Definition at line 84 of file OcTreeStamped.h.
References timestamp.
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inlineinherited |
Definition at line 129 of file OcTreeDataNode.h.
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inherited |
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inline |
Definition at line 65 of file OcTreeStamped.h.
References timestamp, octomap::OcTreeDataNode< T >::value, and octomap::OcTreeDataNode< float >::value.
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inherited |
Equals operator, compares if the stored value is identical.
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inherited |
Prunes a node when it is collapsible.
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inherited |
Read node from binary stream (incl.
float value), recursively continue with all children.
s |
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inlineinherited |
sets log odds occupancy of node
Definition at line 91 of file OcTreeNode.h.
Referenced by updateOccupancyChildren().
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inline |
Definition at line 86 of file OcTreeStamped.h.
References timestamp.
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inlineinherited |
sets value to be stored in the node
Definition at line 131 of file OcTreeDataNode.h.
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inline |
Definition at line 89 of file OcTreeStamped.h.
References octomap::OcTreeNode::getMaxChildLogOdds(), octomap::OcTreeNode::setLogOdds(), and updateTimestamp().
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inline |
Definition at line 85 of file OcTreeStamped.h.
References timestamp.
Referenced by updateOccupancyChildren().
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inherited |
Write node to binary stream (incl float value), recursively continue with all children.
This preserves the complete state of the node.
s |
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protectedinherited |
pointer to array of children, may be NULL
Definition at line 163 of file OcTreeDataNode.h.
Referenced by createChild(), and octomap::ColorOcTreeNode::createChild().
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protected |
Definition at line 95 of file OcTreeStamped.h.
Referenced by getTimestamp(), operator==(), setTimestamp(), and updateTimestamp().
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protectedinherited |
stored data (payload)
Definition at line 165 of file OcTreeDataNode.h.
Referenced by operator==(), and octomap::ColorOcTreeNode::operator==().
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