/usr/include/octomap/octomap_types.h is in liboctomap-dev 1.8.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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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_TYPES_H
#define OCTOMAP_TYPES_H
#include <stdio.h>
#include <vector>
#include <list>
#include <inttypes.h>
#include <octomap/math/Vector3.h>
#include <octomap/math/Pose6D.h>
#include <octomap/octomap_deprecated.h>
namespace octomap {
///Use Vector3 (float precision) as a point3d in octomap
typedef octomath::Vector3 point3d;
/// Use our Pose6D (float precision) as pose6d in octomap
typedef octomath::Pose6D pose6d;
typedef std::vector<octomath::Vector3> point3d_collection;
typedef std::list<octomath::Vector3> point3d_list;
/// A voxel defined by its center point3d and its side length
typedef std::pair<point3d, double> OcTreeVolume;
}
// no debug output if not in debug mode:
#ifdef NDEBUG
#ifndef OCTOMAP_NODEBUGOUT
#define OCTOMAP_NODEBUGOUT
#endif
#endif
#ifdef OCTOMAP_NODEBUGOUT
#define OCTOMAP_DEBUG(...) (void)0
#define OCTOMAP_DEBUG_STR(...) (void)0
#else
#define OCTOMAP_DEBUG(...) fprintf(stderr, __VA_ARGS__), fflush(stderr)
#define OCTOMAP_DEBUG_STR(args) std::cerr << args << std::endl
#endif
#define OCTOMAP_WARNING(...) fprintf(stderr, "WARNING: "), fprintf(stderr, __VA_ARGS__), fflush(stderr)
#define OCTOMAP_WARNING_STR(args) std::cerr << "WARNING: " << args << std::endl
#define OCTOMAP_ERROR(...) fprintf(stderr, "ERROR: "), fprintf(stderr, __VA_ARGS__), fflush(stderr)
#define OCTOMAP_ERROR_STR(args) std::cerr << "ERROR: " << args << std::endl
#endif
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