124 lines
4.4 KiB
C++
124 lines
4.4 KiB
C++
/*
|
|
* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
|
|
* https://octomap.github.io/
|
|
*
|
|
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
|
|
* All rights reserved.
|
|
* License: New BSD
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the University of Freiburg nor the names of its
|
|
* contributors may be used to endorse or promote products derived from
|
|
* this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef OCTOMAP_COUNTING_OCTREE_HH
|
|
#define OCTOMAP_COUNTING_OCTREE_HH
|
|
|
|
|
|
#include <stdio.h>
|
|
#include "OcTreeBase.h"
|
|
#include "OcTreeDataNode.h"
|
|
|
|
namespace octomap {
|
|
|
|
/**
|
|
* An Octree-node which stores an internal counter per node / volume.
|
|
*
|
|
* Count is recursive, parent nodes have the summed count of their
|
|
* children.
|
|
*
|
|
* \note In our mapping system this data structure is used in
|
|
* CountingOcTree in the sensor model only
|
|
*/
|
|
class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
|
|
|
|
public:
|
|
|
|
CountingOcTreeNode();
|
|
~CountingOcTreeNode();
|
|
|
|
inline unsigned int getCount() const { return getValue(); }
|
|
inline void increaseCount() { value++; }
|
|
inline void setCount(unsigned c) {this->setValue(c); }
|
|
|
|
};
|
|
|
|
|
|
|
|
/**
|
|
* An AbstractOcTree which stores an internal counter per node / volume.
|
|
*
|
|
* Count is recursive, parent nodes have the summed count of their
|
|
* children.
|
|
*
|
|
* \note Was only used internally, not used anymore
|
|
*/
|
|
class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
|
|
|
|
public:
|
|
/// Default constructor, sets resolution of leafs
|
|
CountingOcTree(double resolution);
|
|
virtual CountingOcTreeNode* updateNode(const point3d& value);
|
|
CountingOcTreeNode* updateNode(const OcTreeKey& k);
|
|
void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
|
|
|
|
protected:
|
|
|
|
void getCentersMinHitsRecurs( point3d_list& node_centers,
|
|
unsigned int& min_hits,
|
|
unsigned int max_depth,
|
|
CountingOcTreeNode* node, unsigned int depth,
|
|
const OcTreeKey& parent_key) const;
|
|
|
|
/**
|
|
* Static member object which ensures that this OcTree's prototype
|
|
* ends up in the classIDMapping only once. You need this as a
|
|
* static member in any derived octree class in order to read .ot
|
|
* files through the AbstractOcTree factory. You should also call
|
|
* ensureLinking() once from the constructor.
|
|
*/
|
|
class StaticMemberInitializer{
|
|
public:
|
|
StaticMemberInitializer() {
|
|
CountingOcTree* tree = new CountingOcTree(0.1);
|
|
tree->clearKeyRays();
|
|
AbstractOcTree::registerTreeType(tree);
|
|
}
|
|
|
|
/**
|
|
* Dummy function to ensure that MSVC does not drop the
|
|
* StaticMemberInitializer, causing this tree failing to register.
|
|
* Needs to be called from the constructor of this octree.
|
|
*/
|
|
void ensureLinking() {}
|
|
};
|
|
/// static member to ensure static initialization (only once)
|
|
static StaticMemberInitializer countingOcTreeMemberInit;
|
|
};
|
|
|
|
|
|
}
|
|
|
|
|
|
#endif
|