/usr/include/octomap/MapCollection.h is in liboctomap-dev 1.8.1+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_MAP_COLLECTION_H
#define OCTOMAP_MAP_COLLECTION_H
#include <vector>
#include <octomap/MapNode.h>
namespace octomap {
template <class MAPNODE>
class MapCollection {
public:
MapCollection();
MapCollection(std::string filename);
~MapCollection();
void addNode( MAPNODE* node);
MAPNODE* addNode(const Pointcloud& cloud, point3d sensor_origin);
bool removeNode(const MAPNODE* n);
MAPNODE* queryNode(const point3d& p);
bool isOccupied(const point3d& p) const;
bool isOccupied(float x, float y, float z) const;
double getOccupancy(const point3d& p);
bool castRay(const point3d& origin, const point3d& direction, point3d& end,
bool ignoreUnknownCells=false, double maxRange=-1.0) const;
bool writePointcloud(std::string filename);
bool write(std::string filename);
// TODO
void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
double maxrange=-1., bool pruning=true, bool lazy_eval = false);
// TODO
MAPNODE* queryNode(std::string id);
typedef typename std::vector<MAPNODE*>::iterator iterator;
typedef typename std::vector<MAPNODE*>::const_iterator const_iterator;
iterator begin() { return nodes.begin(); }
iterator end() { return nodes.end(); }
const_iterator begin() const { return nodes.begin(); }
const_iterator end() const { return nodes.end(); }
size_t size() const { return nodes.size(); }
protected:
void clear();
bool read(std::string filename);
// TODO
std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
// TODO
MAPNODE* associate(const Pointcloud& scan);
static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
static std::string combinePathAndFilename(std::string path, std::string filename);
static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
protected:
std::vector<MAPNODE*> nodes;
};
} // end namespace
#include "octomap/MapCollection.hxx"
#endif
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