/usr/include/octomap/MapNode.h is in liboctomap-dev 1.6.8+dfsg-2.1.
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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_NODE_H
#define OCTOMAP_MAP_NODE_H
#include <string>
#include <octomap/OcTree.h>
namespace octomap {
template <class TREETYPE>
class MapNode {
public:
MapNode();
MapNode(TREETYPE* node_map, pose6d origin);
MapNode(std::string filename, pose6d origin);
MapNode(const Pointcloud& cloud, pose6d origin);
~MapNode();
typedef TREETYPE TreeType;
TREETYPE* getMap() { return node_map; }
void updateMap(const Pointcloud& cloud, point3d sensor_origin);
inline std::string getId() { return id; }
inline void setId(std::string newid) { id = newid; }
inline pose6d getOrigin() { return origin; }
// returns cloud of voxel centers in global reference frame
Pointcloud generatePointcloud();
bool writeMap(std::string filename);
protected:
TREETYPE* node_map; // occupancy grid map
pose6d origin; // origin and orientation relative to parent
std::string id;
void clear();
bool readMap(std::string filename);
};
} // end namespace
#include "octomap/MapNode.hxx"
#endif
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