`#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.

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

- fcl/include/fcl/octree.h