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OcTreeBase.h
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1 /* +---------------------------------------------------------------------------+
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8  +---------------------------------------------------------------------------+ */
9 #ifndef OCTOMAP_OCTREE_BASE_H
10 #define OCTOMAP_OCTREE_BASE_H
11 
12 // $Id: OcTreeBase.h 402 2012-08-06 13:39:42Z ahornung $
13 
14 /**
15 * OctoMap:
16 * A probabilistic, flexible, and compact 3D mapping library for robotic systems.
17 * @author K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009-2011.
18 * @see http://octomap.sourceforge.net/
19 * License: New BSD License
20 */
21 
22 /*
23  * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg
24  * All rights reserved.
25  *
26  * Redistribution and use in source and binary forms, with or without
27  * modification, are permitted provided that the following conditions are met:
28  *
29  * * Redistributions of source code must retain the above copyright
30  * notice, this list of conditions and the following disclaimer.
31  * * Redistributions in binary form must reproduce the above copyright
32  * notice, this list of conditions and the following disclaimer in the
33  * documentation and/or other materials provided with the distribution.
34  * * Neither the name of the University of Freiburg nor the names of its
35  * contributors may be used to endorse or promote products derived from
36  * this software without specific prior written permission.
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45  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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49  */
50 
51 #include "OcTreeBaseImpl.h"
52 #include "AbstractOcTree.h"
53 
54 
55 namespace octomap {
56  template <class NODE>
57  class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> {
58  public:
60 
61  /// virtual constructor: creates a new object of same type
62  /// (Covariant return type requires an up-to-date compiler)
63  OcTreeBase<NODE>* create() const {return new OcTreeBase<NODE>(this->resolution); }
64  std::string getTreeType() const {return "OcTreeBase";}
65  };
66 
67  }
68 
69 
70 #endif
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
OcTree base class, to be used with with any kind of OcTreeDataNode.
OcTreeBase< NODE > * create() const
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date ...
Definition: OcTreeBase.h:63
std::string getTreeType() const
returns actual class name as string for identification
Definition: OcTreeBase.h:64



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