octomap 1.9.8
octomap_types.h
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1/*
2 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3 * https://octomap.github.io/
4 *
5 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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32 */
33
34#ifndef OCTOMAP_TYPES_H
35#define OCTOMAP_TYPES_H
36
37#include <stdio.h>
38#include <vector>
39#include <list>
40#include <inttypes.h>
41
43#include <octomap/math/Pose6D.h>
45
46namespace octomap {
47
52
53 typedef std::vector<octomath::Vector3> point3d_collection;
54 typedef std::list<octomath::Vector3> point3d_list;
55
57 typedef std::pair<point3d, double> OcTreeVolume;
58
59}
60
61 // no debug output if not in debug mode:
62 #ifdef NDEBUG
63 #ifndef OCTOMAP_NODEBUGOUT
64 #define OCTOMAP_NODEBUGOUT
65 #endif
66 #endif
67
68 #ifdef OCTOMAP_NODEBUGOUT
69 #define OCTOMAP_DEBUG(...) (void)0
70 #define OCTOMAP_DEBUG_STR(...) (void)0
71 #else
72 #define OCTOMAP_DEBUG(...) fprintf(stderr, __VA_ARGS__), fflush(stderr)
73 #define OCTOMAP_DEBUG_STR(args) std::cerr << args << std::endl
74 #endif
75
76 #define OCTOMAP_WARNING(...) fprintf(stderr, "WARNING: "), fprintf(stderr, __VA_ARGS__), fflush(stderr)
77 #define OCTOMAP_WARNING_STR(args) std::cerr << "WARNING: " << args << std::endl
78 #define OCTOMAP_ERROR(...) fprintf(stderr, "ERROR: "), fprintf(stderr, __VA_ARGS__), fflush(stderr)
79 #define OCTOMAP_ERROR_STR(args) std::cerr << "ERROR: " << args << std::endl
80
81#endif
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
This class represents a three-dimensional vector.
Definition: Vector3.h:50
Namespace the OctoMap library and visualization tools.
std::list< octomath::Vector3 > point3d_list
Definition: octomap_types.h:54
octomath::Pose6D pose6d
Use our Pose6D (float precision) as pose6d in octomap.
Definition: octomap_types.h:51
octomath::Vector3 point3d
Use Vector3 (float precision) as a point3d in octomap.
Definition: octomap_types.h:49
std::vector< octomath::Vector3 > point3d_collection
Definition: octomap_types.h:53
std::pair< point3d, double > OcTreeVolume
A voxel defined by its center point3d and its side length.
Definition: octomap_types.h:57