octomap::CountingOcTreeNode Class Reference

`#include <CountingOcTree.h>`

Inheritance diagram for octomap::CountingOcTreeNode:

## Public Member Functions | |

CountingOcTreeNode () | |

implementation of CountingOcTreeNode ---------------------------------- | |

bool | createChild (unsigned int i) |

initialize i-th child, allocate children array if needed | |

void | expandNode () |

CountingOcTreeNode * | getChild (unsigned int i) |

const CountingOcTreeNode * | getChild (unsigned int i) const |

unsigned int | getCount () const |

void | increaseCount () |

void | setCount (unsigned c) |

~CountingOcTreeNode () |

An Octree-node which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

**Note:**- In our mapping system this data structure is used in CountingOcTree in the sensor model only

Definition at line 53 of file CountingOcTree.h.

implementation of CountingOcTreeNode ----------------------------------

Definition at line 42 of file CountingOcTree.cpp.

Definition at line 47 of file CountingOcTree.cpp.

bool octomap::CountingOcTreeNode::createChild | ( | unsigned int | i | ) |

initialize i-th child, allocate children array if needed

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

Definition at line 62 of file CountingOcTree.cpp.

Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.

You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

Definition at line 51 of file CountingOcTree.cpp.

CountingOcTreeNode* octomap::CountingOcTreeNode::getChild | ( | unsigned int | i | ) | ` [inline]` |

**Returns:**- a pointer to the i-th child of the node. The child needs to exist.

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

Definition at line 61 of file CountingOcTree.h.

const CountingOcTreeNode* octomap::CountingOcTreeNode::getChild | ( | unsigned int | i | ) | const` [inline]` |

**Returns:**- a const pointer to the i-th child of the node. The child needs to exist.

Reimplemented from octomap::OcTreeDataNode< unsigned int >.

Definition at line 65 of file CountingOcTree.h.

unsigned int octomap::CountingOcTreeNode::getCount | ( | ) | const` [inline]` |

Definition at line 69 of file CountingOcTree.h.

void octomap::CountingOcTreeNode::increaseCount | ( | ) | ` [inline]` |

Definition at line 70 of file CountingOcTree.h.

void octomap::CountingOcTreeNode::setCount | ( | unsigned | c | ) | ` [inline]` |

Definition at line 71 of file CountingOcTree.h.

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