/usr/include/octomap/MapNode.hxx is in liboctomap-dev 1.8.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
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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.
*/
namespace octomap {
template <class TREETYPE>
MapNode<TREETYPE>::MapNode(): node_map(0) {
}
template <class TREETYPE>
MapNode<TREETYPE>::MapNode(TREETYPE* node_map, pose6d origin) {
this->node_map = node_map;
this->origin = origin;
}
template <class TREETYPE>
MapNode<TREETYPE>::MapNode(const Pointcloud& cloud, pose6d origin): node_map(0) {
}
template <class TREETYPE>
MapNode<TREETYPE>::MapNode(std::string filename, pose6d origin): node_map(0){
readMap(filename);
this->origin = origin;
id = filename;
}
template <class TREETYPE>
MapNode<TREETYPE>::~MapNode() {
clear();
}
template <class TREETYPE>
void MapNode<TREETYPE>::updateMap(const Pointcloud& cloud, point3d sensor_origin) {
}
template <class TREETYPE>
Pointcloud MapNode<TREETYPE>::generatePointcloud() {
Pointcloud pc;
point3d_list occs;
node_map->getOccupied(occs);
for(point3d_list::iterator it = occs.begin(); it != occs.end(); ++it){
pc.push_back(*it);
}
return pc;
}
template <class TREETYPE>
void MapNode<TREETYPE>::clear(){
if(node_map != 0){
delete node_map;
node_map = 0;
id = "";
origin = pose6d(0.0,0.0,0.0,0.0,0.0,0.0);
}
}
template <class TREETYPE>
bool MapNode<TREETYPE>::readMap(std::string filename){
if(node_map != 0)
delete node_map;
node_map = new TREETYPE(0.05);
return node_map->readBinary(filename);
}
template <class TREETYPE>
bool MapNode<TREETYPE>::writeMap(std::string filename){
return node_map->writeBinary(filename);
}
} // namespace
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