#include <octree.h>
Inheritance diagram for fcl::OcTree:
Public Types | |
| typedef octomap::OcTreeNode | OcTreeNode |
| OcTreeNode must implement the following interfaces: 1) childExists(i) 2) getChild(i) 3) hasChildren(). | |
Public Member Functions | |
| OcTree (FCL_REAL resolution) | |
| construct octree with a given resolution | |
| OcTree (const boost::shared_ptr< octomap::OcTree > &tree_) | |
| construct octree from octomap | |
| void | computeLocalAABB () |
| compute the AABB for the octree in its local coordinate system | |
| AABB | getRootBV () const |
| get the bounding volume for the root | |
| 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 | |
| void | updateNode (FCL_REAL x, FCL_REAL y, FCL_REAL z, bool occupied) |
| update the occupied information for a cell | |
|
std::vector< boost::array< FCL_REAL, 6 > > | 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). | |
| FCL_REAL | getOccupancyThres () const |
| the threshold used to decide whether one node is occupied | |
| OBJECT_TYPE | getObjectType () const |
| return object type, it is an octree | |
| NODE_TYPE | getNodeType () const |
| return node type, it is an octree | |
Definition at line 53 of file octree.h.
