#include <octree.h>

Inheritance diagram for tesseract_geometry::Octree:

Collaboration diagram for tesseract_geometry::Octree:

[legend]

Public Types
enum	SubType { BOX , SPHERE_INSIDE , SPHERE_OUTSIDE }

using	Ptr = std::shared_ptr< Octree >

using	ConstPtr = std::shared_ptr< const Octree >

Public Types inherited from tesseract_geometry::Geometry
using	Ptr = std::shared_ptr< Geometry >

using	ConstPtr = std::shared_ptr< const Geometry >

Public Member Functions
	Octree (std::shared_ptr< const octomap::OcTree > octree, const SubType sub_type)

template<typename PointT >
	Octree (const PointT &point_cloud, const double resolution, const SubType sub_type, const bool prune, const bool binary=true)

	Octree ()=default

	~Octree () override=default

const std::shared_ptr< const octomap::OcTree > &	getOctree () const

SubType	getSubType () const

bool	getPruned () const

Geometry::Ptr	clone () const override final
	Create a copy of this shape. More...

bool	operator== (const Octree &rhs) const

bool	operator!= (const Octree &rhs) const

void	update ()
	Octrees are typically generated from 3D sensor data so this method should be used to efficiently update the collision shape. More...

long	calcNumSubShapes () const
	Calculate the number of sub shapes that would get generated for this octree. More...

Public Member Functions inherited from tesseract_geometry::Geometry
	Geometry (GeometryType type=GeometryType::UNINITIALIZED)

virtual	~Geometry ()=default

	Geometry (const Geometry &)=default

Geometry &	operator= (const Geometry &)=default

	Geometry (Geometry &&)=default

Geometry &	operator= (Geometry &&)=default

virtual Geometry::Ptr	clone () const =0
	Create a copy of this shape. More...

GeometryType	getType () const

bool	operator== (const Geometry &rhs) const

bool	operator!= (const Geometry &rhs) const

Static Public Member Functions
static void	prune (octomap::OcTree &octree)
	A custom octree prune which will prune if all children are above the occupancy threshold. More...

Private Member Functions
template<class Archive >
void	save (Archive &ar, const unsigned int version) const

template<class Archive >
void	load (Archive &ar, const unsigned int version)

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Static Private Member Functions
static bool	isNodeCollapsible (octomap::OcTree &octree, octomap::OcTreeNode *node)

static bool	pruneNode (octomap::OcTree &octree, octomap::OcTreeNode *node)

static void	pruneRecurs (octomap::OcTree &octree, octomap::OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

Private Attributes
std::shared_ptr< const octomap::OcTree >	octree_

SubType	sub_type_ { SubType::BOX }

double	resolution_ { 0.01 }

bool	pruned_ { false }

bool	binary_octree_ { false }

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ConstPtr

using tesseract_geometry::Octree::ConstPtr = std::shared_ptr<const Octree>

◆ Ptr

using tesseract_geometry::Octree::Ptr = std::shared_ptr<Octree>

Member Enumeration Documentation

◆ SubType

enum tesseract_geometry::Octree::SubType

Enumerator
BOX
SPHERE_INSIDE
SPHERE_OUTSIDE

Constructor & Destructor Documentation

◆ Octree() [1/3]

tesseract_geometry::Octree::Octree	(	std::shared_ptr< const octomap::OcTree >	octree,
		const SubType	sub_type
	)

inline

◆ Octree() [2/3]

template<typename PointT >

tesseract_geometry::Octree::Octree	(	const PointT &	point_cloud,
		const double	resolution,
		const SubType	sub_type,
		const bool	prune,
		const bool	binary = `true`
	)

inline

◆ Octree() [3/3]

tesseract_geometry::Octree::Octree ( )

default

◆ ~Octree()

tesseract_geometry::Octree::~Octree ( )

overridedefault

Member Function Documentation

◆ calcNumSubShapes()

long tesseract_geometry::Octree::calcNumSubShapes ( ) const

inline

Calculate the number of sub shapes that would get generated for this octree.

This is expensive and should not be called multiple times

Returns: number of sub shapes

◆ clone()

Geometry::Ptr tesseract_geometry::Octree::clone ( ) const

inlinefinaloverridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

◆ getOctree()

const std::shared_ptr< const octomap::OcTree > & tesseract_geometry::Octree::getOctree ( ) const

inline

◆ getPruned()

bool tesseract_geometry::Octree::getPruned ( ) const

inline

◆ getSubType()

SubType tesseract_geometry::Octree::getSubType ( ) const

inline

◆ isNodeCollapsible()

static bool tesseract_geometry::Octree::isNodeCollapsible	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node
	)

inlinestaticprivate

◆ load()

template<class Archive >

void tesseract_geometry::Octree::load	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ operator!=()

bool tesseract_geometry::Octree::operator!= ( const Octree & rhs ) const

◆ operator==()

bool tesseract_geometry::Octree::operator== ( const Octree & rhs ) const

◆ prune()

static void tesseract_geometry::Octree::prune ( octomap::OcTree & octree )

inlinestatic

A custom octree prune which will prune if all children are above the occupancy threshold.

This is different from the octomap::OcTree::prune which requires all children to have the same occupancy to be collapsed.

Parameters

octree The octree to be pruned.

◆ pruneNode()

static bool tesseract_geometry::Octree::pruneNode	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node
	)

inlinestaticprivate

◆ pruneRecurs()

static void tesseract_geometry::Octree::pruneRecurs	(	octomap::OcTree &	octree,
		octomap::OcTreeNode *	node,
		unsigned int	depth,
		unsigned int	max_depth,
		unsigned int &	num_pruned
	)

inlinestaticprivate

◆ save()

template<class Archive >

void tesseract_geometry::Octree::save	(	Archive &	ar,
		const unsigned int	version
	)		const

private

◆ serialize()

template<class Archive >

void tesseract_geometry::Octree::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

◆ update()

void tesseract_geometry::Octree::update ( )

inline

Octrees are typically generated from 3D sensor data so this method should be used to efficiently update the collision shape.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ binary_octree_

bool tesseract_geometry::Octree::binary_octree_ { false }

private

◆ octree_

std::shared_ptr<const octomap::OcTree> tesseract_geometry::Octree::octree_

private

◆ pruned_

bool tesseract_geometry::Octree::pruned_ { false }

private

◆ resolution_

double tesseract_geometry::Octree::resolution_ { 0.01 }

private

◆ sub_type_

SubType tesseract_geometry::Octree::sub_type_ { SubType::BOX }

private

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

tesseract_geometry/include/tesseract_geometry/impl/octree.h
tesseract_geometry/src/geometries/octree.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ SubType

Constructor & Destructor Documentation

◆ Octree() [1/3]

◆ Octree() [2/3]

◆ Octree() [3/3]

◆ ~Octree()

Member Function Documentation

◆ calcNumSubShapes()

◆ clone()

◆ getOctree()

◆ getPruned()

◆ getSubType()

◆ isNodeCollapsible()

◆ load()

◆ operator!=()

◆ operator==()

◆ prune()

◆ pruneNode()

◆ pruneRecurs()

◆ save()

◆ serialize()

◆ update()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ binary_octree_

◆ octree_

◆ pruned_

◆ resolution_

◆ sub_type_