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OcTreeKey.h File Reference
#include <assert.h>
#include <unordered_set>
#include <unordered_map>

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Classes

class  octomap::OcTreeKey
 OcTreeKey is a container class for internal key addressing. More...
 
struct  octomap::OcTreeKey::KeyHash
 Provides a hash function on Keys. More...
 
class  octomap::KeyRay
 

Namespaces

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

Typedefs

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. More...
 
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) More...
 

Functions

void octomap::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 octomap::computeChildIdx (const OcTreeKey &key, int depth)
 generate child index (between 0 and 7) from key at given tree depth More...
 
OcTreeKey octomap::computeIndexKey (unsigned short int level, const OcTreeKey &key)
 Generates a unique key for all keys on a certain level of the tree. More...
 



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