Detailed Description
template<typename T>
class octomap::OcTreeDataNode< T >
Basic node in the OcTree that can hold arbitrary data of type T in value.
This is the base class for nodes used in an OcTree. The used implementation for occupancy mapping is in OcTreeNode.#
- Template Parameters
-
T data to be stored in the node (e.g. a float for probabilities)
Definition at line 69 of file OcTreeDataNode.h.
#include <mrpt/otherlibs/octomap/OcTreeDataNode.h>
Public Types | |
| typedef T | DataType |
| Make the templated data type available from the outside. More... | |
Public Member Functions | |
| OcTreeDataNode () | |
| OcTreeDataNode (T initVal) | |
| OcTreeDataNode (const OcTreeDataNode &rhs) | |
| Copy constructor, performs a recursive deep-copy of all children. More... | |
| ~OcTreeDataNode () | |
| bool | operator== (const OcTreeDataNode &rhs) const |
| Equals operator, compares if the stored value is identical. More... | |
| bool | createChild (unsigned int i) |
| initialize i-th child, allocate children array if needed More... | |
| bool | childExists (unsigned int i) const |
| OcTreeDataNode< T > * | getChild (unsigned int i) |
| const OcTreeDataNode< T > * | getChild (unsigned int i) const |
| bool | hasChildren () const |
| bool | collapsible () const |
| A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. More... | |
| void | deleteChild (unsigned int i) |
| Deletes the i-th child of the node. More... | |
| bool | pruneNode () |
| Prunes a node when it is collapsible. More... | |
| void | expandNode () |
| Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value. More... | |
| T | getValue () const |
| void | setValue (T v) |
| sets value to be stored in the node More... | |
| std::istream & | readValue (std::istream &s) |
| Read node from binary stream (incl. More... | |
| std::ostream & | writeValue (std::ostream &s) const |
| Write node to binary stream (incl float value), recursively continue with all children. More... | |
Protected Member Functions | |
| void | allocChildren () |
Protected Attributes | |
| OcTreeDataNode< T > ** | children |
| pointer to array of children, may be NULL More... | |
| T | value |
| stored data (payload) More... | |
Member Typedef Documentation
| typedef T octomap::OcTreeDataNode< T >::DataType |
Make the templated data type available from the outside.
Definition at line 156 of file OcTreeDataNode.h.
Constructor & Destructor Documentation
| octomap::OcTreeDataNode< T >::OcTreeDataNode | ( | ) |
| octomap::OcTreeDataNode< T >::OcTreeDataNode | ( | T | initVal | ) |
| octomap::OcTreeDataNode< T >::OcTreeDataNode | ( | const OcTreeDataNode< T > & | rhs | ) |
Copy constructor, performs a recursive deep-copy of all children.
| octomap::OcTreeDataNode< T >::~OcTreeDataNode | ( | ) |
Member Function Documentation
|
protected |
| bool octomap::OcTreeDataNode< T >::childExists | ( | unsigned int | i | ) | const |
- Returns
- true if the i-th child exists
| bool octomap::OcTreeDataNode< T >::collapsible | ( | ) | const |
A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
| bool octomap::OcTreeDataNode< T >::createChild | ( | unsigned int | i | ) |
initialize i-th child, allocate children array if needed
| void octomap::OcTreeDataNode< T >::deleteChild | ( | unsigned int | i | ) |
Deletes the i-th child of the node.
| void octomap::OcTreeDataNode< T >::expandNode | ( | ) |
Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.
You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)
| OcTreeDataNode<T>* octomap::OcTreeDataNode< T >::getChild | ( | unsigned int | i | ) |
- Returns
- a pointer to the i-th child of the node. The child needs to exist.
Referenced by octomap::CountingOcTreeNode::getChild(), and octomap::OcTreeNode::getChild().
| const OcTreeDataNode<T>* octomap::OcTreeDataNode< T >::getChild | ( | unsigned int | i | ) | const |
- Returns
- a const pointer to the i-th child of the node. The child needs to exist.
|
inline |
- Returns
- value stored in the node
Definition at line 129 of file OcTreeDataNode.h.
| bool octomap::OcTreeDataNode< T >::hasChildren | ( | ) | const |
- Returns
- true if the node has at least one child
| bool octomap::OcTreeDataNode< T >::operator== | ( | const OcTreeDataNode< T > & | rhs | ) | const |
Equals operator, compares if the stored value is identical.
| bool octomap::OcTreeDataNode< T >::pruneNode | ( | ) |
Prunes a node when it is collapsible.
- Returns
- true if pruning was successful
| std::istream& octomap::OcTreeDataNode< T >::readValue | ( | std::istream & | s | ) |
Read node from binary stream (incl.
float value), recursively continue with all children.
- Parameters
-
s
- Returns
|
inline |
sets value to be stored in the node
Definition at line 131 of file OcTreeDataNode.h.
| std::ostream& octomap::OcTreeDataNode< T >::writeValue | ( | std::ostream & | s | ) | const |
Write node to binary stream (incl float value), recursively continue with all children.
This preserves the complete state of the node.
- Parameters
-
s
- Returns
Member Data Documentation
|
protected |
pointer to array of children, may be NULL
Definition at line 163 of file OcTreeDataNode.h.
|
protected |
stored data (payload)
Definition at line 165 of file OcTreeDataNode.h.
Referenced by octomap::OcTreeDataNode< unsigned int >::getValue(), octomap::OcTreeNodeStamped::operator==(), octomap::ColorOcTreeNode::operator==(), and octomap::OcTreeDataNode< unsigned int >::setValue().