VirtualRobot::VoxelTreeND< T, N > Class Template Reference

Data Structures
struct	ElementIterator

Public Member Functions
	VoxelTreeND (float minExtend[N], float maxExtend[N], float discretization[N], bool verbose=false)
virtual	~VoxelTreeND ()
bool	setEntry (float pos[N], const T &e)
T *	getEntry (float pos[N])
void	getSize (float storeSize[N])
void	getMinExtend (float storeMin[N])
void	getMaxExtend (float storeMin[N])
void	getDiscretization (float storeDiscretization[N])
void	getRealDiscretization (float storeDiscretization[N])
VoxelTreeNDElement< T, N > *	getLeafElement (float pos[N])
VoxelTreeNDElement< T, N > *	getMaxEntry (const Eigen::VectorXf &p)
std::vector< VoxelTreeNDElement< T, N > *>	getAllLeafs (const Eigen::VectorXf &p)
bool	save (std::ofstream &file)
bool	save (const std::string &filename)
bool	isCovered (float p[N])
void	print ()
int	getMaxLevels ()
VoxelTreeNDElement< T, N > *	getRoot ()
void	getMemoryConsumtion (long &storeMemStructure, long &storeMemData)
long	getNumNodes ()

Static Public Member Functions
static VoxelTreeND< T, N > *	load (std::ifstream &file)
static VoxelTreeND< T, N > *	load (const std::string &filename)

Protected Member Functions
float	getExtends (int level, int dim)
int	getNumChildren ()
void	setRoot (VoxelTreeNDElement< T, N > *e)
unsigned int	getNextID ()

Protected Attributes
float	minExtend [N]
float	maxExtend [N]
float	size [N]
float	discretization [N]
int	maxLevels
bool	verbose
unsigned int	currentElementID
int	num_children
Eigen::MatrixXf	elementExtends
VoxelTreeNDElement< T, N > *	root

Friends
class	VoxelTreeNDElement< T, N >

Detailed Description

template<typename T, unsigned int N>
class VirtualRobot::VoxelTreeND< T, N >

A binary tree covering an N-dimensional space with voxels. On each tree level, 2^N children exist, each of which is either a leaf (and stores an entry) or it is further divided. The elements are created on demand, so it can hold sparse information.

The space extends are given by minExtend / maxExtend and the maximum voxel sizes are determined by the discretization parameters. Note that the worst minExtend/maxExtend and discretization set is chosen to determine the number of levels of the tree.

The following example shows how a 6D workspace consisting of position(-100mm -> +100mm) and orientation(-PI -> +PI, radian) can be coverd by this class. Each voxel covers a 20cm sized cube and rotation intervals of PI/10 radian for each RPY dimension. The voxel can hold an unsigned char value. float minExtend[6] = { -100.0f, -100.0f, -100.0f, -M_PI, -M_PI_2, -M_PI}; float maxExtend[6] = { 100.0f, 100.0f, 100.0f, M_PI, M_PI_2, M_PI}; float discr[6] = { 20.0f, 20.0f, 20.0f, M_PI/10.0f, M_PI/10.0f, M_PI/10.0f }; VoxelTreeND<unsigned char, 6> v(minExtend,maxExtend,discr);

float pos[6] = {10.0f,20.0f,0.0f, 0.1f,0.3f,-0.4f}; v.setEntry(pos,255); unsigned char *e = v.getEntry(pos); check if entry is set if (e) std::cout << "Entry is set:" << *e << std::endl;

Constructor & Destructor Documentation

VoxelTreeND()

template<typename T, unsigned int N>

VirtualRobot::VoxelTreeND< T, N >::VoxelTreeND ( float  minExtend[N], float  maxExtend[N], float  discretization[N], bool  verbose = false  )

inline

~VoxelTreeND()

template<typename T, unsigned int N>

virtual VirtualRobot::VoxelTreeND< T, N >::~VoxelTreeND ( )

inlinevirtual

Member Function Documentation

getAllLeafs()

template<typename T, unsigned int N>

std::vector< VoxelTreeNDElement<T, N>* > VirtualRobot::VoxelTreeND< T, N >::getAllLeafs ( const Eigen::VectorXf &  p )

inline

Gets all leaf elements of all sub-tree elements at position p (size of Vector p defines which level of the tree is considered).

getDiscretization()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getDiscretization ( float  storeDiscretization[N] )

inline

Returns discretization vector as defined on construction. (The actual discretization may differ, depending on max tree depth)

getEntry()

template<typename T, unsigned int N>

T* VirtualRobot::VoxelTreeND< T, N >::getEntry ( float  pos[N] )

inline

Returns entry at pos. If pos is outside the space representation or no data stored at pos, NULL is returned.

getExtends()

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeND< T, N >::getExtends ( int  level, int  dim  )

inlineprotected

Returns voxel extends of element in given level (0<=level<maxLevels) and dimension dim (0<=dim<N)

getLeafElement()

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeND< T, N >::getLeafElement ( float  pos[N] )

inline

Returns leaf at position pos. NULL if no data stored.

getMaxEntry()

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeND< T, N >::getMaxEntry ( const Eigen::VectorXf &  p )

inline

Gets leaf element with max entry T of all sub-tree elements at position p (size of Vector p defines which level of the tree is considered). If no entry is stored below p NULL is returned

getMaxExtend()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getMaxExtend ( float  storeMin[N] )

inline

Returns max position of voxelized data structure (in local coordinate system)

getMaxLevels()

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeND< T, N >::getMaxLevels ( )

inline

getMemoryConsumtion()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getMemoryConsumtion ( long &  storeMemStructure, long &  storeMemData  )

inline

getMinExtend()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getMinExtend ( float  storeMin[N] )

inline

Returns min position of voxelized data structure (in local coordinate system)

getNextID()

template<typename T, unsigned int N>

unsigned int VirtualRobot::VoxelTreeND< T, N >::getNextID ( )

inlineprotected

getNumChildren()

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeND< T, N >::getNumChildren ( )

inlineprotected

getNumNodes()

template<typename T, unsigned int N>

long VirtualRobot::VoxelTreeND< T, N >::getNumNodes ( )

inline

Retruns number of all Nodes, including inner and leaf nodes.

getRealDiscretization()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getRealDiscretization ( float  storeDiscretization[N] )

inline

Get real min element sizes.

getRoot()

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeND< T, N >::getRoot ( )

inline

getSize()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::getSize ( float  storeSize[N] )

inline

Returns size of voxelized data structure (in local coordinate system)

isCovered()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeND< T, N >::isCovered ( float  p[N] )

inline

load() [1/2]

template<typename T, unsigned int N>

static VoxelTreeND<T, N>* VirtualRobot::VoxelTreeND< T, N >::load ( std::ifstream &  file )

inlinestatic

load() [2/2]

template<typename T, unsigned int N>

static VoxelTreeND<T, N>* VirtualRobot::VoxelTreeND< T, N >::load ( const std::string &  filename )

inlinestatic

print()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::print ( )

inline

save() [1/2]

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeND< T, N >::save ( std::ofstream &  file )

inline

save() [2/2]

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeND< T, N >::save ( const std::string &  filename )

inline

setEntry()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeND< T, N >::setEntry ( float  pos[N], const T &  e  )

inline

Store entry to this voxel grid. Creates a leaf if necessary. Existing entries are silently overwritten. A copy of e is created.

setRoot()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeND< T, N >::setRoot ( VoxelTreeNDElement< T, N > *  e )

inlineprotected

Friends And Related Function Documentation

VoxelTreeNDElement< T, N >

template<typename T, unsigned int N>

friend class VoxelTreeNDElement< T, N >

friend

Field Documentation

currentElementID

template<typename T, unsigned int N>

unsigned int VirtualRobot::VoxelTreeND< T, N >::currentElementID

protected

discretization

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeND< T, N >::discretization[N]

protected

elementExtends

template<typename T, unsigned int N>

Eigen::MatrixXf VirtualRobot::VoxelTreeND< T, N >::elementExtends

protected

maxExtend

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeND< T, N >::maxExtend[N]

protected

maxLevels

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeND< T, N >::maxLevels

protected

minExtend

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeND< T, N >::minExtend[N]

protected

num_children

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeND< T, N >::num_children

protected

root

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeND< T, N >::root

protected

size

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeND< T, N >::size[N]

protected

verbose

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeND< T, N >::verbose

protected