hpp-fcl  1.7.3
HPP fork of FCL -- The Flexible Collision Library
octree.h
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35 
39 #ifndef HPP_FCL_OCTREE_H
40 #define HPP_FCL_OCTREE_H
41 
42 
43 #include <boost/array.hpp>
44 
45 #include <octomap/octomap.h>
46 #include <hpp/fcl/fwd.hh>
47 #include <hpp/fcl/BV/AABB.h>
49 
50 namespace hpp
51 {
52 namespace fcl
53 {
54 
57 {
58 private:
59  shared_ptr<const octomap::OcTree> tree;
60 
61  FCL_REAL default_occupancy;
62 
63  FCL_REAL occupancy_threshold;
64  FCL_REAL free_threshold;
65 
66 public:
67 
68  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69 
70  typedef octomap::OcTreeNode OcTreeNode;
71 
73  OcTree(FCL_REAL resolution) : tree(shared_ptr<const octomap::OcTree>(new octomap::OcTree(resolution)))
74  {
75  default_occupancy = tree->getOccupancyThres();
76 
77  // default occupancy/free threshold is consistent with default setting from octomap
78  occupancy_threshold = tree->getOccupancyThres();
79  free_threshold = 0;
80  }
81 
83  OcTree(const shared_ptr<const octomap::OcTree>& tree_) : tree(tree_)
84  {
85  default_occupancy = tree->getOccupancyThres();
86 
87  // default occupancy/free threshold is consistent with default setting from octomap
88  occupancy_threshold = tree->getOccupancyThres();
89  free_threshold = 0;
90  }
91 
92  OcTree(const OcTree & other)
93  : CollisionGeometry(other)
94  , tree(other.tree)
95  , default_occupancy(other.default_occupancy)
96  , occupancy_threshold(other.occupancy_threshold)
97  , free_threshold(other.free_threshold)
98  {
99  }
100 
101  OcTree * clone() const { return new OcTree(*this); }
102 
105  {
106  aabb_local = getRootBV();
107  aabb_center = aabb_local.center();
108  aabb_radius = (aabb_local.min_ - aabb_center).norm();
109  }
110 
112  AABB getRootBV() const
113  {
114  FCL_REAL delta = (1 << tree->getTreeDepth()) * tree->getResolution() / 2;
115 
116  // std::cout << "octree size " << delta << std::endl;
117  return AABB(Vec3f(-delta, -delta, -delta), Vec3f(delta, delta, delta));
118  }
119 
121  unsigned int getTreeDepth() const
122  {
123  return tree->getTreeDepth();
124  }
125 
127  OcTreeNode* getRoot() const
128  {
129  return tree->getRoot();
130  }
131 
133  bool isNodeOccupied(const OcTreeNode* node) const
134  {
135  // return tree->isNodeOccupied(node);
136  return node->getOccupancy() >= occupancy_threshold;
137  }
138 
140  bool isNodeFree(const OcTreeNode* node) const
141  {
142  // return false; // default no definitely free node
143  return node->getOccupancy() <= free_threshold;
144  }
145 
147  bool isNodeUncertain(const OcTreeNode* node) const
148  {
149  return (!isNodeOccupied(node)) && (!isNodeFree(node));
150  }
151 
154  std::vector<boost::array<FCL_REAL, 6> > toBoxes() const
155  {
156  std::vector<boost::array<FCL_REAL, 6> > boxes;
157  boxes.reserve(tree->size() / 2);
158  for(octomap::OcTree::iterator it =
159  tree->begin((unsigned char) tree->getTreeDepth()), end = tree->end();
160  it != end;
161  ++it)
162  {
163  // if(tree->isNodeOccupied(*it))
164  if(isNodeOccupied(&*it))
165  {
166  FCL_REAL size = it.getSize();
167  FCL_REAL x = it.getX();
168  FCL_REAL y = it.getY();
169  FCL_REAL z = it.getZ();
170  FCL_REAL c = (*it).getOccupancy();
171  FCL_REAL t = tree->getOccupancyThres();
172 
173  boost::array<FCL_REAL, 6> box = {{x, y, z, size, c, t}};
174  boxes.push_back(box);
175  }
176  }
177  return boxes;
178  }
179 
182  {
183  return occupancy_threshold;
184  }
185 
188  {
189  return free_threshold;
190  }
191 
193  {
194  return default_occupancy;
195  }
196 
198  {
199  default_occupancy = d;
200  }
201 
203  {
204  occupancy_threshold = d;
205  }
206 
208  {
209  free_threshold = d;
210  }
211 
213  OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx)
214  {
215 #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
216  return tree->getNodeChild(node, childIdx);
217 #else
218  return node->getChild(childIdx);
219 #endif
220  }
221 
223  const OcTreeNode* getNodeChild(const OcTreeNode* node, unsigned int childIdx) const
224  {
225 #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
226  return tree->getNodeChild(node, childIdx);
227 #else
228  return node->getChild(childIdx);
229 #endif
230  }
231 
233  bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const
234  {
235 #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
236  return tree->nodeChildExists(node, childIdx);
237 #else
238  return node->childExists(childIdx);
239 #endif
240  }
241 
243  bool nodeHasChildren(const OcTreeNode* node) const
244  {
245 #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
246  return tree->nodeHasChildren(node);
247 #else
248  return node->hasChildren();
249 #endif
250  }
251 
253  OBJECT_TYPE getObjectType() const { return OT_OCTREE; }
254 
256  NODE_TYPE getNodeType() const { return GEOM_OCTREE; }
257 };
258 
260 static inline void computeChildBV(const AABB& root_bv, unsigned int i, AABB& child_bv)
261 {
262  if(i&1)
263  {
264  child_bv.min_[0] = (root_bv.min_[0] + root_bv.max_[0]) * 0.5;
265  child_bv.max_[0] = root_bv.max_[0];
266  }
267  else
268  {
269  child_bv.min_[0] = root_bv.min_[0];
270  child_bv.max_[0] = (root_bv.min_[0] + root_bv.max_[0]) * 0.5;
271  }
272 
273  if(i&2)
274  {
275  child_bv.min_[1] = (root_bv.min_[1] + root_bv.max_[1]) * 0.5;
276  child_bv.max_[1] = root_bv.max_[1];
277  }
278  else
279  {
280  child_bv.min_[1] = root_bv.min_[1];
281  child_bv.max_[1] = (root_bv.min_[1] + root_bv.max_[1]) * 0.5;
282  }
283 
284  if(i&4)
285  {
286  child_bv.min_[2] = (root_bv.min_[2] + root_bv.max_[2]) * 0.5;
287  child_bv.max_[2] = root_bv.max_[2];
288  }
289  else
290  {
291  child_bv.min_[2] = root_bv.min_[2];
292  child_bv.max_[2] = (root_bv.min_[2] + root_bv.max_[2]) * 0.5;
293  }
294 }
295 
304  HPP_FCL_DLLAPI OcTree makeOctree(const Eigen::Matrix<FCL_REAL,Eigen::Dynamic,3> & point_cloud,
305  const FCL_REAL & resolution);
306 
307 }
308 
309 } // namespace hpp
310 
311 #endif
bool isNodeFree(const OcTreeNode *node) const
whether one node is completely free
Definition: octree.h:140
OcTreeNode * getRoot() const
get the root node of the octree
Definition: octree.h:127
FCL_REAL getOccupancyThres() const
the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold ...
Definition: octree.h:181
Vec3f min_
The min point in the AABB.
Definition: AABB.h:60
std::vector< boost::array< FCL_REAL, 6 > > toBoxes() const
transform the octree into a bunch of boxes; uncertainty information is kept in the boxes...
Definition: octree.h:154
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_object.h:55
Main namespace.
Definition: AABB.h:43
OcTree(FCL_REAL resolution)
construct octree with a given resolution
Definition: octree.h:73
FCL_REAL getDefaultOccupancy() const
Definition: octree.h:192
AABB getRootBV() const
get the bounding volume for the root
Definition: octree.h:112
unsigned int getTreeDepth() const
Returns the depth of octree.
Definition: octree.h:121
OcTree makeOctree(const Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > &point_cloud, const FCL_REAL &resolution)
Build an OcTree from a point cloud and a given resolution.
FCL_REAL getFreeThres() const
the threshold used to decide whether one node is free, this is NOT the octree free_threshold ...
Definition: octree.h:187
Definition: collision_object.h:59
void setOccupancyThres(FCL_REAL d)
Definition: octree.h:202
Octree is one type of collision geometry which can encode uncertainty information in the sensor data...
Definition: octree.h:56
bool isNodeUncertain(const OcTreeNode *node) const
whether one node is uncertain
Definition: octree.h:147
double FCL_REAL
Definition: data_types.h:66
OcTree * clone() const
Clone *this into a new CollisionGeometry.
Definition: octree.h:101
OcTreeNode * getNodeChild(OcTreeNode *node, unsigned int childIdx)
Definition: octree.h:213
const OcTreeNode * getNodeChild(const OcTreeNode *node, unsigned int childIdx) const
Definition: octree.h:223
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:55
Vec3f max_
The max point in the AABB.
Definition: AABB.h:62
Definition: collision_object.h:55
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef octomap::OcTreeNode OcTreeNode
Definition: octree.h:70
OBJECT_TYPE getObjectType() const
return object type, it is an octree
Definition: octree.h:253
void setCellDefaultOccupancy(FCL_REAL d)
Definition: octree.h:197
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree
Definition: collision_object.h:58
OcTree(const shared_ptr< const octomap::OcTree > &tree_)
construct octree from octomap
Definition: octree.h:83
NODE_TYPE getNodeType() const
return node type, it is an octree
Definition: octree.h:256
void computeLocalAABB()
compute the AABB for the octree in its local coordinate system
Definition: octree.h:104
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
The geometry for the object for collision or distance computation.
Definition: collision_object.h:65
bool isNodeOccupied(const OcTreeNode *node) const
whether one node is completely occupied
Definition: octree.h:133
bool nodeChildExists(const OcTreeNode *node, unsigned int childIdx) const
return true if the child at childIdx exists
Definition: octree.h:233
void setFreeThres(FCL_REAL d)
Definition: octree.h:207
OcTree(const OcTree &other)
Definition: octree.h:92
#define HPP_FCL_DLLAPI
Definition: config.hh:64
bool nodeHasChildren(const OcTreeNode *node) const
return true if node has at least one child
Definition: octree.h:243