/usr/include/octomap/CountingOcTree.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_COUNTING_OCTREE_HH
#define OCTOMAP_COUNTING_OCTREE_HH
#include <stdio.h>
#include "OcTreeBase.h"
#include "OcTreeDataNode.h"
namespace octomap {
/**
* An Octree-node which stores an internal counter per node / volume.
*
* Count is recursive, parent nodes have the summed count of their
* children.
*
* \note In our mapping system this data structure is used in
* CountingOcTree in the sensor model only
*/
class CountingOcTreeNode : public OcTreeDataNode<unsigned int> {
public:
CountingOcTreeNode();
~CountingOcTreeNode();
inline unsigned int getCount() const { return getValue(); }
inline void increaseCount() { value++; }
inline void setCount(unsigned c) {this->setValue(c); }
};
/**
* An AbstractOcTree which stores an internal counter per node / volume.
*
* Count is recursive, parent nodes have the summed count of their
* children.
*
* \note Was only used internally, not used anymore
*/
class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
public:
/// Default constructor, sets resolution of leafs
CountingOcTree(double resolution);
virtual CountingOcTreeNode* updateNode(const point3d& value);
CountingOcTreeNode* updateNode(const OcTreeKey& k);
void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
protected:
void getCentersMinHitsRecurs( point3d_list& node_centers,
unsigned int& min_hits,
unsigned int max_depth,
CountingOcTreeNode* node, unsigned int depth,
const OcTreeKey& parent_key) const;
/**
* Static member object which ensures that this OcTree's prototype
* ends up in the classIDMapping only once. You need this as a
* static member in any derived octree class in order to read .ot
* files through the AbstractOcTree factory. You should also call
* ensureLinking() once from the constructor.
*/
class StaticMemberInitializer{
public:
StaticMemberInitializer() {
CountingOcTree* tree = new CountingOcTree(0.1);
tree->clearKeyRays();
AbstractOcTree::registerTreeType(tree);
}
/**
* Dummy function to ensure that MSVC does not drop the
* StaticMemberInitializer, causing this tree failing to register.
* Needs to be called from the constructor of this octree.
*/
void ensureLinking() {};
};
/// static member to ensure static initialization (only once)
static StaticMemberInitializer countingOcTreeMemberInit;
};
}
#endif
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