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octomap Namespace Reference

Detailed Description

OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.

Author
K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009-2011.
See also
http://octomap.sourceforge.net/ License: New BSD License
Author
K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009-2011
See also
http://octomap.sourceforge.net/ License: New BSD License
Author
K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009.
See also
http://octomap.sourceforge.net/ License: New BSD License
Author
K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2010.
See also
http://octomap.sourceforge.net/ License: New BSD License
Author
Raphael Schmitt, K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2010.
See also
http://octomap.sourceforge.net/ License: New BSD License

Classes

class  AbstractOccupancyOcTree
 Interface class for all octree types that store occupancy. More...
 
class  AbstractOcTree
 This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()). More...
 
class  AbstractOcTreeNode
 
class  ColorOcTree
 
class  ColorOcTreeNode
 
class  CountingOcTree
 An AbstractOcTree which stores an internal counter per node / volume. More...
 
class  CountingOcTreeNode
 An Octree-node which stores an internal counter per node / volume. More...
 
struct  equal_keys
 comparator for keys More...
 
struct  hash_key
 
class  KeyRay
 
class  MapCollection
 
class  MapNode
 
class  OccupancyOcTreeBase
 Base implementation for Occupancy Octrees (e.g. More...
 
class  OcTree
 octomap main map data structure, stores 3D occupancy grid map in an OcTree. More...
 
class  OcTreeBase
 
class  OcTreeBaseImpl
 OcTree base class, to be used with with any kind of OcTreeDataNode. More...
 
class  OcTreeBaseSE
 
class  OcTreeDataNode
 Basic node in the OcTree that can hold arbitrary data of type T in value. More...
 
class  OcTreeKey
 OcTreeKey is a container class for internal key addressing. More...
 
class  OcTreeLUT
 Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding". More...
 
class  OcTreeNode
 Nodes to be used in OcTree. More...
 
class  OcTreeNodeStamped
 
class  OcTreeStamped
 
class  Pointcloud
 A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan. More...
 
class  ScanEdge
 A connection between two ScanNodes. More...
 
class  ScanGraph
 A ScanGraph is a collection of ScanNodes, connected by ScanEdges. More...
 
class  ScanNode
 A 3D scan as Pointcloud, performed from a Pose6D. More...
 

Typedefs

typedef octomath::Vector3 point3d
 Use Vector3 (float precision) as a point3d in octomap. More...
 
typedef octomath::Pose6D pose6d
 Use our Pose6D (float precision) as pose6d in octomap. More...
 
typedef std::vector< octomath::Vector3point3d_collection
 
typedef std::list< octomath::Vector3point3d_list
 
typedef std::pair< point3d, double > OcTreeVolume
 A voxel defined by its center point3d and its side length. More...
 
typedef std::unordered_set< OcTreeKey, OcTreeKey::KeyHashKeySet
 Data structure to efficiently compute the nodes to update from a scan insertion using a hash set. More...
 
typedef std::unordered_map< OcTreeKey, bool, OcTreeKey::KeyHashKeyBoolMap
 Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes) More...
 

Functions

std::ostream & operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
 user friendly output in format (r g b) More...
 
float logodds (double probability)
 compute log-odds from probability: More...
 
double probability (double logodds)
 compute probability from logodds: More...
 
void computeChildKey (const unsigned int &pos, const unsigned short int &center_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key)
 Computes the key of a child node while traversing the octree, given child index and current key. More...
 
unsigned char computeChildIdx (const OcTreeKey &key, int depth)
 generate child index (between 0 and 7) from key at given tree depth More...
 
OcTreeKey computeIndexKey (unsigned short int level, const OcTreeKey &key)
 Generates a unique key for all keys on a certain level of the tree. More...
 

Typedef Documentation

typedef std::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap

Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)

Definition at line 126 of file OcTreeKey.h.

typedef std::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet

Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.

Note
you need to use boost::unordered_set instead if your compiler does not yet support tr1!

Definition at line 115 of file OcTreeKey.h.

typedef std::pair<point3d, double> octomap::OcTreeVolume

A voxel defined by its center point3d and its side length.

Definition at line 71 of file octomap_types.h.

Use Vector3 (float precision) as a point3d in octomap.

Definition at line 63 of file octomap_types.h.

Definition at line 67 of file octomap_types.h.

Definition at line 68 of file octomap_types.h.

Use our Pose6D (float precision) as pose6d in octomap.

Definition at line 65 of file octomap_types.h.

Function Documentation

unsigned char octomap::computeChildIdx ( const OcTreeKey key,
int  depth 
)
inline

generate child index (between 0 and 7) from key at given tree depth

Definition at line 190 of file OcTreeKey.h.

References octomap::OcTreeKey::k.

Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::DEPRECATED().

void octomap::computeChildKey ( const unsigned int &  pos,
const unsigned short int &  center_offset_key,
const OcTreeKey parent_key,
OcTreeKey child_key 
)
inline

Computes the key of a child node while traversing the octree, given child index and current key.

Parameters
[in]posindex of child node (0..7)
[in]center_offset_keyconstant offset of octree keys
[in]parent_keycurrent (parent) key
[out]child_keycomputed child key

Definition at line 176 of file OcTreeKey.h.

OcTreeKey octomap::computeIndexKey ( unsigned short int  level,
const OcTreeKey key 
)
inline

Generates a unique key for all keys on a certain level of the tree.

Parameters
levelfrom the bottom (= tree_depth - depth of key)
keyinput indexing key (at lowest resolution / level)
Returns
key corresponding to the input key at the given level

Definition at line 205 of file OcTreeKey.h.

float octomap::logodds ( double  probability)
inline
std::ostream& octomap::operator<< ( std::ostream &  out,
ColorOcTreeNode::Color const &  c 
)

user friendly output in format (r g b)

double octomap::probability ( double  logodds)
inline



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