129 lines
4.5 KiB
C++
129 lines
4.5 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_STAMPED_H
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#define OCTOMAP_OCTREE_STAMPED_H
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#include <octomap/OcTreeNode.h>
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#include <octomap/OccupancyOcTreeBase.h>
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#include <ctime>
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namespace octomap {
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// node definition
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class OcTreeNodeStamped : public OcTreeNode {
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public:
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OcTreeNodeStamped() : OcTreeNode(), timestamp(0) {}
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OcTreeNodeStamped(const OcTreeNodeStamped& rhs) : OcTreeNode(rhs), timestamp(rhs.timestamp) {}
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bool operator==(const OcTreeNodeStamped& rhs) const{
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return (rhs.value == value && rhs.timestamp == timestamp);
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}
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void copyData(const OcTreeNodeStamped& from){
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OcTreeNode::copyData(from);
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timestamp = from.getTimestamp();
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}
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// timestamp
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inline unsigned int getTimestamp() const { return timestamp; }
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inline void updateTimestamp() { timestamp = (unsigned int) time(NULL);}
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inline void setTimestamp(unsigned int t) {timestamp = t; }
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// update occupancy and timesteps of inner nodes
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inline void updateOccupancyChildren() {
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this->setLogOdds(this->getMaxChildLogOdds()); // conservative
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updateTimestamp();
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}
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protected:
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unsigned int timestamp;
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};
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// tree definition
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class OcTreeStamped : public OccupancyOcTreeBase <OcTreeNodeStamped> {
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public:
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/// Default constructor, sets resolution of leafs
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OcTreeStamped(double resolution);
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/// virtual constructor: creates a new object of same type
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/// (Covariant return type requires an up-to-date compiler)
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OcTreeStamped* create() const {return new OcTreeStamped(resolution); }
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std::string getTreeType() const {return "OcTreeStamped";}
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//! \return timestamp of last update
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unsigned int getLastUpdateTime();
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void degradeOutdatedNodes(unsigned int time_thres);
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virtual void updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const;
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void integrateMissNoTime(OcTreeNodeStamped* node) const;
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protected:
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/**
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* Static member object which ensures that this OcTree's prototype
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* ends up in the classIDMapping only once. You need this as a
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* static member in any derived octree class in order to read .ot
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* files through the AbstractOcTree factory. You should also call
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* ensureLinking() once from the constructor.
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*/
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class StaticMemberInitializer{
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public:
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StaticMemberInitializer() {
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OcTreeStamped* tree = new OcTreeStamped(0.1);
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tree->clearKeyRays();
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AbstractOcTree::registerTreeType(tree);
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}
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/**
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* Dummy function to ensure that MSVC does not drop the
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* StaticMemberInitializer, causing this tree failing to register.
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* Needs to be called from the constructor of this octree.
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*/
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void ensureLinking() {}
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};
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/// to ensure static initialization (only once)
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static StaticMemberInitializer ocTreeStampedMemberInit;
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};
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} // end namespace
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#endif
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