Detailed Description

Definition at line 59 of file ColorOcTree.h.

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

Inheritance diagram for octomap::ColorOcTreeNode:

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

ColorOcTreeNode *	getChild (unsigned int i)

const ColorOcTreeNode *	getChild (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)

Color &	getColor ()

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 (float v)
	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

◆ DataType

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

◆ ColorOcTreeNode() [1/2]

octomap::ColorOcTreeNode::ColorOcTreeNode ( )

inline

Definition at line 77 of file ColorOcTree.h.

Referenced by createChild().

◆ ColorOcTreeNode() [2/2]

octomap::ColorOcTreeNode::ColorOcTreeNode ( const ColorOcTreeNode & rhs )

inline

Definition at line 79 of file ColorOcTree.h.

Member Function Documentation

◆ addValue()

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

inherited

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

◆ allocChildren()

void octomap::OcTreeDataNode< float >::allocChildren ( )

protectedinherited

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

◆ childExists()

bool octomap::OcTreeDataNode< float >::childExists ( unsigned int i ) const

inherited

Returns: true if the i-th child exists

◆ collapsible()

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.

◆ createChild()

bool octomap::ColorOcTreeNode::createChild ( unsigned int i )

inline

Definition at line 93 of file ColorOcTree.h.

References octomap::OcTreeDataNode< float >::allocChildren(), octomap::OcTreeDataNode< float >::children, ColorOcTreeNode(), expandNode(), and pruneNode().

◆ deleteChild()

void octomap::OcTreeDataNode< float >::deleteChild ( unsigned int i )

inherited

Deletes the i-th child of the node.

◆ expandNode()

void octomap::ColorOcTreeNode::expandNode ( )

Referenced by createChild().

◆ getAverageChildColor()

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

Referenced by isColorSet().

◆ getChild() [1/2]

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

inline

Definition at line 86 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

◆ getChild() [2/2]

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

inline

Definition at line 89 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

◆ getColor() [1/2]

Color octomap::ColorOcTreeNode::getColor ( ) const

inline

Definition at line 102 of file ColorOcTree.h.

References color.

◆ getColor() [2/2]

Color& octomap::ColorOcTreeNode::getColor ( )

inline

Definition at line 108 of file ColorOcTree.h.

References color.

◆ getLogOdds()

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().

◆ getMaxChildLogOdds()

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

inherited

Returns: maximum of children's occupancy probabilities, in log odds

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

◆ getMeanChildLogOdds()

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

inherited

Returns: mean of all children's occupancy probabilities, in log odds

◆ getOccupancy()

double octomap::OcTreeNode::getOccupancy ( ) const

inlineinherited

Returns: occupancy probability of node

Definition at line 86 of file OcTreeNode.h.

References octomap::probability().

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getPointOccupancy(), and mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_computeObservationLikelihood().

◆ getValue()

float octomap::OcTreeDataNode< float >::getValue ( ) const

inlineinherited

Returns: value stored in the node

Definition at line 129 of file OcTreeDataNode.h.

◆ hasChildren()

bool octomap::OcTreeDataNode< float >::hasChildren ( ) const

inherited

Returns: true if the node has at least one child

◆ isColorSet()

bool octomap::ColorOcTreeNode::isColorSet ( ) const

inline

Definition at line 111 of file ColorOcTree.h.

References octomap::ColorOcTreeNode::Color::b, color, octomap::ColorOcTreeNode::Color::g, getAverageChildColor(), octomap::ColorOcTreeNode::Color::r, readValue(), updateColorChildren(), and writeValue().

◆ operator==() [1/2]

bool octomap::ColorOcTreeNode::operator== ( const ColorOcTreeNode & rhs ) const

inline

Definition at line 81 of file ColorOcTree.h.

References color, octomap::OcTreeDataNode< T >::value, and octomap::OcTreeDataNode< float >::value.

◆ operator==() [2/2]

bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > & rhs ) const

inherited

Equals operator, compares if the stored value is identical.

◆ pruneNode()

bool octomap::ColorOcTreeNode::pruneNode ( )

Referenced by createChild().

◆ readValue()

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

Referenced by isColorSet().

◆ setColor() [1/2]

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

inline

Definition at line 103 of file ColorOcTree.h.

References color.

◆ setColor() [2/2]

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.

◆ setLogOdds()

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().

◆ setValue()

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

inlineinherited

sets value to be stored in the node

Definition at line 131 of file OcTreeDataNode.h.

◆ updateColorChildren()

void octomap::ColorOcTreeNode::updateColorChildren ( )

Referenced by isColorSet().

◆ updateOccupancyChildren()

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.

◆ writeValue()

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

Referenced by isColorSet().

Member Data Documentation

◆ children

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

Color octomap::ColorOcTreeNode::color

protected

Definition at line 125 of file ColorOcTree.h.

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

◆ value

float octomap::OcTreeDataNode< float >::value

protectedinherited

stored data (payload)

Definition at line 165 of file OcTreeDataNode.h.

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

Detailed Description

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ DataType

Constructor & Destructor Documentation

◆ ColorOcTreeNode() [1/2]

◆ ColorOcTreeNode() [2/2]

Member Function Documentation

◆ addValue()

◆ allocChildren()

◆ childExists()

◆ collapsible()

◆ createChild()

◆ deleteChild()

◆ expandNode()

◆ getAverageChildColor()

◆ getChild() [1/2]

◆ getChild() [2/2]

◆ getColor() [1/2]

◆ getColor() [2/2]

◆ getLogOdds()

◆ getMaxChildLogOdds()

◆ getMeanChildLogOdds()

◆ getOccupancy()

◆ getValue()

◆ hasChildren()

◆ isColorSet()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ pruneNode()

◆ readValue()

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setLogOdds()

◆ setValue()

◆ updateColorChildren()

◆ updateOccupancyChildren()

◆ writeValue()

Member Data Documentation

◆ children

◆ color

◆ value