/usr/include/octomap/OcTreeBaseSE.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_OCTREE_BASE_SE_H
#define OCTOMAP_OCTREE_BASE_SE_H
#include "OcTreeBase.h"
#include "OcTreeLUT.h"
namespace octomap {
template <class NODE>
class OcTreeBaseSE: public OcTreeBase<NODE> {
public:
OcTreeBaseSE(double _resolution);
virtual ~OcTreeBaseSE();
/**
* Traces a ray from origin to end (excluding), returning the
* coordinates of all nodes traversed by the beam.
* (Essentially using the DDA algorithm in 3D).
*
* @param origin start coordinate of ray
* @param end end coordinate of ray
* @param ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
* @return Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
*/
bool computeRayKeys(const point3d& origin, const point3d& end, KeyRay& ray) const;
NODE* getLUTNeighbor(const point3d& value, OcTreeLUT::NeighborDirection dir) const;
protected:
KeyRay keyray;
OcTreeLUT* lut;
};
}
#include "OcTreeBaseSE.hxx"
#endif
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