83 lines
2.8 KiB
C++
83 lines
2.8 KiB
C++
/*
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* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
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* https://octomap.github.io/
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*
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* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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* All rights reserved.
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* License: New BSD
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the University of Freiburg nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OCTOMAP_MAP_NODE_H
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#define OCTOMAP_MAP_NODE_H
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#include <string>
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#include <octomap/OcTree.h>
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namespace octomap {
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template <class TREETYPE>
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class MapNode {
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public:
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MapNode();
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MapNode(TREETYPE* node_map, pose6d origin);
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MapNode(std::string filename, pose6d origin);
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MapNode(const Pointcloud& cloud, pose6d origin);
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~MapNode();
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typedef TREETYPE TreeType;
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TREETYPE* getMap() { return node_map; }
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void updateMap(const Pointcloud& cloud, point3d sensor_origin);
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inline std::string getId() { return id; }
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inline void setId(std::string newid) { id = newid; }
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inline pose6d getOrigin() { return origin; }
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// returns cloud of voxel centers in global reference frame
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Pointcloud generatePointcloud();
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bool writeMap(std::string filename);
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protected:
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TREETYPE* node_map; // occupancy grid map
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pose6d origin; // origin and orientation relative to parent
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std::string id;
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void clear();
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bool readMap(std::string filename);
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};
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} // end namespace
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#include "octomap/MapNode.hxx"
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#endif
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