9 #ifndef OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H 10 #define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
double getProbMiss() const
bool writeBinary(const std::string &filename)
Writes OcTree to a binary file using writeBinary().
bool isNodeAtThreshold(const OcTreeNode &occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
This abstract class is an interface to all octrees and provides a factory design pattern for readin a...
double getProbHit() const
bool writeBinaryConst(const std::string &filename) const
Writes OcTree to a binary file using writeBinaryConst().
virtual std::istream & readBinaryData(std::istream &s)=0
Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
double probability(double logodds)
compute probability from logodds:
static const std::string binaryFileHeader
bool isNodeOccupied(const OcTreeNode &occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
void setProbHit(double prob)
sets the probablility for a "hit" (will be converted to logodds) - sensor model
float getProbMissLog() const
bool isNodeOccupied(const OcTreeNode *occupancyNode) const
queries whether a node is occupied according to the tree's parameter for "occupancy" ...
void setClampingThresMin(double thresProb)
sets the minimum threshold for occupancy clamping (sensor model)
bool isNodeAtThreshold(const OcTreeNode *occupancyNode) const
queries whether a node is at the clamping threshold according to the tree's parameter ...
float getOccupancyThresLog() const
AbstractOccupancyOcTree()
float getClampingThresMinLog() const
Interface class for all octree types that store occupancy.
virtual OcTreeNode * updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
Manipulate log_odds value of voxel directly.
float getClampingThresMaxLog() const
virtual ~AbstractOccupancyOcTree()
bool readBinaryLegacyHeader(std::istream &s, unsigned int &size, double &res)
Try to read the old binary format for conversion, will be removed in the future.
void setOccupancyThres(double prob)
sets the threshold for occupancy (sensor model)
virtual std::ostream & writeBinaryData(std::ostream &s) const =0
Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
double getClampingThresMin() const
OcTreeKey is a container class for internal key addressing.
bool readBinary(std::istream &s)
Reads an OcTree from an input stream.
double getOccupancyThres() const
float getProbHitLog() const
Nodes to be used in OcTree.
virtual void toMaxLikelihood()=0
float logodds(double probability)
compute log-odds from probability:
virtual size_t size() const =0
double getClampingThresMax() const
void setProbMiss(double prob)
sets the probablility for a "miss" (will be converted to logodds) - sensor model
void setClampingThresMax(double thresProb)
sets the maximum threshold for occupancy clamping (sensor model)
This class represents a three-dimensional vector.