98 lines
3.5 KiB
C++
98 lines
3.5 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_OCTREE_NODE_H
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#define OCTOMAP_OCTREE_NODE_H
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#include "octomap_types.h"
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#include "octomap_utils.h"
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#include "OcTreeDataNode.h"
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#include <limits>
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namespace octomap {
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/**
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* Nodes to be used in OcTree. They represent 3d occupancy grid cells.
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* "value" stores their log-odds occupancy.
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*
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* Note: If you derive a class (directly or indirectly) from OcTreeNode or
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* OcTreeDataNode, you have to implement (at least) the following functions:
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* createChild(), getChild(), getChild() const, expandNode() to avoid slicing
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* errors and memory-related bugs.
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* See ColorOcTreeNode in ColorOcTree.h for an example.
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*
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*/
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class OcTreeNode : public OcTreeDataNode<float> {
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public:
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OcTreeNode();
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~OcTreeNode();
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// -- node occupancy ----------------------------
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/// \return occupancy probability of node
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inline double getOccupancy() const { return probability(value); }
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/// \return log odds representation of occupancy probability of node
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inline float getLogOdds() const{ return value; }
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/// sets log odds occupancy of node
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inline void setLogOdds(float l) { value = l; }
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/**
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* @return mean of all children's occupancy probabilities, in log odds
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*/
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double getMeanChildLogOdds() const;
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/**
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* @return maximum of children's occupancy probabilities, in log odds
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*/
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float getMaxChildLogOdds() const;
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/// update this node's occupancy according to its children's maximum occupancy
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inline void updateOccupancyChildren() {
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this->setLogOdds(this->getMaxChildLogOdds()); // conservative
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}
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/// adds p to the node's logOdds value (with no boundary / threshold checking!)
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void addValue(const float& p);
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protected:
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// "value" stores log odds occupancy probability
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};
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} // end namespace
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#endif
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