9 #ifndef OCTOMAP_OCTREE_NODE_H
10 #define OCTOMAP_OCTREE_NODE_H
void updateOccupancyChildren()
update this node's occupancy according to its children's maximum occupancy
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
double probability(double logodds)
compute probability from logodds:
void addValue(const float &p)
adds p to the node's logOdds value (with no boundary / threshold checking!)
double getMeanChildLogOdds() const
double getOccupancy() const
float getMaxChildLogOdds() const
bool createChild(unsigned int i)
OcTreeNode * getChild(unsigned int i)
float value
stored data (payload)
Nodes to be used in OcTree.
Basic node in the OcTree that can hold arbitrary data of type T in value.
const OcTreeNode * getChild(unsigned int i) const
void setLogOdds(float l)
sets log odds occupancy of node
OcTreeDataNode< T > * getChild(unsigned int i)