9 #ifndef OCTOMAP_COUNTING_OCTREE_HH
10 #define OCTOMAP_COUNTING_OCTREE_HH
115 unsigned int& min_hits,
116 unsigned int max_depth,
double resolution
in meters
void setCount(unsigned c)
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
CountingOcTree(double resolution)
Default constructor, sets resolution of leafs.
virtual CountingOcTreeNode * updateNode(const point3d &value)
An Octree-node which stores an internal counter per node / volume.
An AbstractOcTree which stores an internal counter per node / volume.
CountingOcTreeNode * getChild(unsigned int i)
StaticMemberInitializer()
unsigned int getValue() const
unsigned int getCount() const
void setValue(unsigned intv)
sets value to be stored in the node
std::list< octomath::Vector3 > point3d_list
unsigned int value
stored data (payload)
static void registerTreeType(AbstractOcTree *tree)
static StaticMemberInitializer countingOcTreeMemberInit
static member to ensure static initialization (only once)
OcTreeKey is a container class for internal key addressing.
Static member object which ensures that this OcTree's prototype ends up in the classIDMapping only on...
void getCentersMinHits(point3d_list &node_centers, unsigned int min_hits) const
bool createChild(unsigned int i)
void getCentersMinHitsRecurs(point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const
Basic node in the OcTree that can hold arbitrary data of type T in value.
const CountingOcTreeNode * getChild(unsigned int i) const
OcTreeDataNode< T > * getChild(unsigned int i)
This class represents a three-dimensional vector.