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maps/COctoMap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef MRPT_COctoMap_H
11 #define MRPT_COctoMap_H
12 
13 #include <mrpt/maps/COctoMapBase.h>
14 
15 #include <mrpt/maps/CMetricMap.h>
18 #include <octomap/octomap.h>
19 #include <mrpt/obs/obs_frwds.h>
20 
21 #include <mrpt/maps/link_pragmas.h>
22 
23 namespace mrpt
24 {
25  namespace maps
26  {
28 
29  /** A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.
30  * This version only stores occupancy information at each octree node. See the base class mrpt::maps::COctoMapBase.
31  *
32  * \sa CMetricMap, the example in "MRPT/samples/octomap_simple"
33  * \ingroup mrpt_maps_grp
34  */
35  class MAPS_IMPEXP COctoMap : public COctoMapBase<octomap::OcTree,octomap::OcTreeNode>
36  {
37  // This must be added to any CSerializable derived class:
39 
40  public:
41  COctoMap(const double resolution=0.10); //!< Default constructor
42  virtual ~COctoMap(); //!< Destructor
43 
44  virtual void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE;
45 
47  double resolution; //!< The finest resolution of the octomap (default: 0.10 meters)
48  mrpt::maps::COctoMap::TInsertionOptions insertionOpts; //!< Observations insertion options
49  mrpt::maps::COctoMap::TLikelihoodOptions likelihoodOpts; //!< Probabilistic observation likelihood options
51 
52  protected:
53  bool internal_insertObservation(const mrpt::obs::CObservation *obs,const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE;
54  }; // End of class def.
56  } // End of namespace
57 
58 } // End of namespace
59 
60 #endif
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: maps/COctoMap.h:35
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a virtual base class for all metric maps storage classes.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...



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