Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...

#include <coal/octree.h>

Inheritance diagram for coal::OcTree:

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Collaboration diagram for coal::OcTree:

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Public Types
typedef octomap::OcTreeNode	OcTreeNode

Public Member Functions
	OcTree (Scalar resolution)
	construct octree with a given resolution

	OcTree (const shared_ptr< const octomap::OcTree > &tree_)
	construct octree from octomap

	OcTree (const OcTree &other)


OcTree *	clone () const
	Clone *this into a new Octree.

shared_ptr< const octomap::OcTree >	getTree () const
	Returns the tree associated to the underlying octomap OcTree.

void	exportAsObjFile (const std::string &filename) const

void	computeLocalAABB ()
	compute the AABB for the octree in its local coordinate system

AABB	getRootBV () const
	get the bounding volume for the root

unsigned int	getTreeDepth () const
	Returns the depth of the octree.

unsigned long	size () const
	Returns the size of the octree.

Scalar	getResolution () const
	Returns the resolution of the octree.

OcTreeNode *	getRoot () const
	get the root node of the octree

bool	isNodeOccupied (const OcTreeNode *node) const
	whether one node is completely occupied

bool	isNodeFree (const OcTreeNode *node) const
	whether one node is completely free

bool	isNodeUncertain (const OcTreeNode *node) const
	whether one node is uncertain

std::vector< Vec6s >	toBoxes () const
	transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).

std::vector< uint8_t >	tobytes () const
	Returns a byte description of *this.

Scalar	getOccupancyThres () const
	the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

Scalar	getFreeThres () const
	the threshold used to decide whether one node is free, this is NOT the octree free_threshold

Scalar	getDefaultOccupancy () const

void	setCellDefaultOccupancy (Scalar d)

void	setOccupancyThres (Scalar d)

void	setFreeThres (Scalar d)

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx)

const OcTreeNode *	getNodeChild (const OcTreeNode *node, unsigned int childIdx) const

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const
	return true if the child at childIdx exists

bool	nodeHasChildren (const OcTreeNode *node) const
	return true if node has at least one child

OBJECT_TYPE	getObjectType () const
	return object type, it is an octree

NODE_TYPE	getNodeType () const
	return node type, it is an octree

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.

virtual	~CollisionGeometry ()

bool	operator== (const CollisionGeometry &other) const
	Equality operator.

bool	operator!= (const CollisionGeometry &other) const
	Difference operator.

void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Vec3s	computeCOM () const
	compute center of mass

virtual Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

virtual Scalar	computeVolume () const
	compute the volume

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Protected Attributes
shared_ptr< const octomap::OcTree >	tree

Scalar	default_occupancy

Scalar	occupancy_threshold

Scalar	free_threshold

Additional Inherited Members
Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate.

Scalar	aabb_radius
	AABB radius.

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

Scalar	cost_density
	collision cost for unit volume

Scalar	threshold_occupied
	threshold for occupied ( >= is occupied)

Scalar	threshold_free
	threshold for free (<= is free)

Detailed Description

Octree is one type of collision geometry which can encode uncertainty information in the sensor data.

Member Typedef Documentation

◆ OcTreeNode

typedef octomap::OcTreeNode coal::OcTree::OcTreeNode

Constructor & Destructor Documentation

◆ OcTree() [1/3]

coal::OcTree::OcTree ( Scalar resolution )

inlineexplicit

construct octree with a given resolution

◆ OcTree() [2/3]

coal::OcTree::OcTree ( const shared_ptr< const octomap::OcTree > & tree_ )

inlineexplicit

construct octree from octomap

◆ OcTree() [3/3]

coal::OcTree::OcTree ( const OcTree & other )

inline

Copy constructor

Member Function Documentation

◆ clone()

OcTree * coal::OcTree::clone ( ) const

inlinevirtual

Clone *this into a new Octree.

Implements coal::CollisionGeometry.

◆ computeLocalAABB()

void coal::OcTree::computeLocalAABB ( )

inlinevirtual

compute the AABB for the octree in its local coordinate system

Implements coal::CollisionGeometry.

◆ exportAsObjFile()

void coal::OcTree::exportAsObjFile ( const std::string & filename ) const

◆ getDefaultOccupancy()

Scalar coal::OcTree::getDefaultOccupancy ( ) const

inline

◆ getFreeThres()

Scalar coal::OcTree::getFreeThres ( ) const

inline

the threshold used to decide whether one node is free, this is NOT the octree free_threshold

◆ getNodeChild() [1/2]

const OcTreeNode * coal::OcTree::getNodeChild	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

Returns: const ptr to child number childIdx of node

◆ getNodeChild() [2/2]

OcTreeNode * coal::OcTree::getNodeChild	(	OcTreeNode *	node,
		unsigned int	childIdx
	)

inline

Returns: ptr to child number childIdx of node

◆ getNodeType()

NODE_TYPE coal::OcTree::getNodeType ( ) const

inlinevirtual

return node type, it is an octree

Reimplemented from coal::CollisionGeometry.

◆ getObjectType()

OBJECT_TYPE coal::OcTree::getObjectType ( ) const

inlinevirtual

return object type, it is an octree

Reimplemented from coal::CollisionGeometry.

◆ getOccupancyThres()

Scalar coal::OcTree::getOccupancyThres ( ) const

inline

the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

◆ getResolution()

Scalar coal::OcTree::getResolution ( ) const

inline

Returns the resolution of the octree.

◆ getRoot()

OcTreeNode * coal::OcTree::getRoot ( ) const

inline

get the root node of the octree

◆ getRootBV()

AABB coal::OcTree::getRootBV ( ) const

inline

get the bounding volume for the root

◆ getTree()

shared_ptr< const octomap::OcTree > coal::OcTree::getTree ( ) const

inline

Returns the tree associated to the underlying octomap OcTree.

◆ getTreeDepth()

unsigned int coal::OcTree::getTreeDepth ( ) const

inline

Returns the depth of the octree.

◆ isNodeFree()

bool coal::OcTree::isNodeFree ( const OcTreeNode * node ) const

inline

whether one node is completely free

◆ isNodeOccupied()

bool coal::OcTree::isNodeOccupied ( const OcTreeNode * node ) const

inline

whether one node is completely occupied

◆ isNodeUncertain()

bool coal::OcTree::isNodeUncertain ( const OcTreeNode * node ) const

inline

whether one node is uncertain

◆ nodeChildExists()

bool coal::OcTree::nodeChildExists	(	const OcTreeNode *	node,
		unsigned int	childIdx
	)		const

inline

return true if the child at childIdx exists

◆ nodeHasChildren()

bool coal::OcTree::nodeHasChildren ( const OcTreeNode * node ) const

inline

return true if node has at least one child

◆ setCellDefaultOccupancy()

void coal::OcTree::setCellDefaultOccupancy ( Scalar d )

inline

◆ setFreeThres()

void coal::OcTree::setFreeThres ( Scalar d )

inline

◆ setOccupancyThres()

void coal::OcTree::setOccupancyThres ( Scalar d )

inline

◆ size()

unsigned long coal::OcTree::size ( ) const

inline

Returns the size of the octree.

◆ toBoxes()

std::vector< Vec6s > coal::OcTree::toBoxes ( ) const

inline

transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).

◆ tobytes()

std::vector< uint8_t > coal::OcTree::tobytes ( ) const

inline

Returns a byte description of *this.

Member Data Documentation

◆ default_occupancy

Scalar coal::OcTree::default_occupancy

protected

◆ free_threshold

Scalar coal::OcTree::free_threshold

protected

◆ occupancy_threshold

Scalar coal::OcTree::occupancy_threshold

protected

◆ tree

shared_ptr<const octomap::OcTree> coal::OcTree::tree

protected

The documentation for this class was generated from the following file:

include/coal/octree.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ OcTreeNode

Constructor & Destructor Documentation

◆ OcTree() [1/3]

◆ OcTree() [2/3]

◆ OcTree() [3/3]

Member Function Documentation

◆ clone()

◆ computeLocalAABB()

◆ exportAsObjFile()

◆ getDefaultOccupancy()

◆ getFreeThres()

◆ getNodeChild() [1/2]

◆ getNodeChild() [2/2]

◆ getNodeType()

◆ getObjectType()

◆ getOccupancyThres()

◆ getResolution()

◆ getRoot()

◆ getRootBV()

◆ getTree()

◆ getTreeDepth()

◆ isNodeFree()

◆ isNodeOccupied()

◆ isNodeUncertain()

◆ nodeChildExists()

◆ nodeHasChildren()

◆ setCellDefaultOccupancy()

◆ setFreeThres()

◆ setOccupancyThres()

◆ size()

◆ toBoxes()

◆ tobytes()

Member Data Documentation

◆ default_occupancy

◆ free_threshold

◆ occupancy_threshold

◆ tree