9 #ifndef OCTOMAP_MAP_COLLECTION_H
10 #define OCTOMAP_MAP_COLLECTION_H
57 template <
class MAPNODE>
70 bool isOccupied(
float x,
float y,
float z)
const;
75 bool ignoreUnknownCells=
false,
double maxRange=-1.0)
const;
78 bool write(std::string filename);
82 double maxrange=-1.,
bool pruning=
true,
bool lazy_eval =
false);
91 const_iterator
end()
const {
return nodes.end(); }
96 bool read(std::string filename);
103 static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
105 static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
114 #include "mrpt/otherlibs/octomap/MapCollection.hxx"
bool castRay(const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
std::vector< MAPNODE * >::const_iterator const_iterator
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
const_iterator end() const
std::vector< Pointcloud * > segment(const Pointcloud &scan) const
bool isOccupied(const point3d &p) const
const Scalar * const_iterator
MAPNODE * queryNode(const point3d &p)
static std::string combinePathAndFilename(std::string path, std::string filename)
bool writePointcloud(std::string filename)
float getOccupancy(const point3d &p)
bool write(std::string filename)
MAPNODE * associate(const Pointcloud &scan)
A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan...
void addNode(MAPNODE *node)
std::vector< MAPNODE * > nodes
std::vector< MAPNODE * >::iterator iterator
const_iterator begin() const
static bool readTagValue(std::string tag, std::ifstream &infile, std::string *value)
static void splitPathAndFilename(std::string &filenamefullpath, std::string *path, std::string *filename)
void insertScan(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
bool removeNode(const MAPNODE *n)
bool read(std::string filename)
This class represents a three-dimensional vector.