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maps/COctoMap.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#ifndef MRPT_COctoMap_H
11#define MRPT_COctoMap_H
12
14
18#include <octomap/octomap.h>
19#include <mrpt/obs/obs_frwds.h>
20
22
23namespace mrpt
24{
25 namespace maps
26 {
28
29 /** A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.
30 * This version only stores occupancy information at each octree node. See the base class mrpt::maps::COctoMapBase.
31 *
32 * \sa CMetricMap, the example in "MRPT/samples/octomap_simple"
33 * \ingroup mrpt_maps_grp
34 */
35 class MAPS_IMPEXP COctoMap : public COctoMapBase<octomap::OcTree,octomap::OcTreeNode>
36 {
37 // This must be added to any CSerializable derived class:
39
40 public:
41 COctoMap(const double resolution=0.10); //!< Default constructor
42 virtual ~COctoMap(); //!< Destructor
43
45
47 double resolution; //!< The finest resolution of the octomap (default: 0.10 meters)
48 mrpt::maps::COctoMap::TInsertionOptions insertionOpts; //!< Observations insertion options
49 mrpt::maps::COctoMap::TLikelihoodOptions likelihoodOpts; //!< Probabilistic observation likelihood options
51
52 protected:
53 bool internal_insertObservation(const mrpt::obs::CObservation *obs,const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE;
54 }; // End of class def.
56 } // End of namespace
57
58} // End of namespace
59
60#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ... MAP_DEFINITION_END() block inside the declaration of each metric map...
Declares a virtual base class for all metric maps storage classes.
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: maps/COctoMap.h:36
COctoMap(const double resolution=0.10)
Default constructor.
virtual void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.
virtual ~COctoMap()
Destructor.
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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