/usr/include/octomap/OcTreeNode.h is in liboctomap-dev 1.6.8+dfsg-1.
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* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
* http://octomap.github.com/
*
* 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_OCTREE_NODE_H
#define OCTOMAP_OCTREE_NODE_H
#include "octomap_types.h"
#include "octomap_utils.h"
#include "OcTreeDataNode.h"
#include <limits>
namespace octomap {
/**
* Nodes to be used in OcTree. They represent 3d occupancy grid cells.
* "value" stores their log-odds occupancy.
*
* Hint: If a class is derived from OcTreeNode, you have to implement (at least)
* createChild, getChild, and getChild const. See OcTreeNodeLabeled for an example.
*
*/
class OcTreeNode : public OcTreeDataNode<float> {
public:
OcTreeNode();
~OcTreeNode();
bool createChild(unsigned int i);
// overloaded, so that the return type is correct:
inline OcTreeNode* getChild(unsigned int i) {
return static_cast<OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
}
inline const OcTreeNode* getChild(unsigned int i) const {
return static_cast<const OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
}
// -- node occupancy ----------------------------
/// \return occupancy probability of node
inline double getOccupancy() const { return probability(value); }
/// \return log odds representation of occupancy probability of node
inline float getLogOdds() const{ return value; }
/// sets log odds occupancy of node
inline void setLogOdds(float l) { value = l; }
/**
* @return mean of all children's occupancy probabilities, in log odds
*/
double getMeanChildLogOdds() const;
/**
* @return maximum of children's occupancy probabilities, in log odds
*/
float getMaxChildLogOdds() const;
/// update this node's occupancy according to its children's maximum occupancy
inline void updateOccupancyChildren() {
this->setLogOdds(this->getMaxChildLogOdds()); // conservative
}
/// adds p to the node's logOdds value (with no boundary / threshold checking!)
void addValue(const float& p);
protected:
// "value" stores log odds occupancy probability
};
} // end namespace
#endif
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