From bb558b51af956b8b69d6014e71ee9acdf0cd80c3 Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Mon, 6 Aug 2012 18:18:47 +0000
Subject: [PATCH] change octree shared_ptr to octomap as const, and remove
non-const function
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@154 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/octree.h | 12 +++---------
1 file changed, 3 insertions(+), 9 deletions(-)
diff --git a/trunk/fcl/include/fcl/octree.h b/trunk/fcl/include/fcl/octree.h
index 48269add..6a4db448 100644
--- a/trunk/fcl/include/fcl/octree.h
+++ b/trunk/fcl/include/fcl/octree.h
@@ -53,7 +53,7 @@ namespace fcl
class OcTree : public CollisionGeometry
{
private:
- boost::shared_ptr<octomap::OcTree> tree;
+ boost::shared_ptr<const octomap::OcTree> tree;
public:
/// @brief OcTreeNode must implement the following interfaces:
@@ -63,10 +63,10 @@ public:
typedef octomap::OcTreeNode OcTreeNode;
/// @brief construct octree with a given resolution
- OcTree(FCL_REAL resolution) : tree(boost::shared_ptr<octomap::OcTree>(new octomap::OcTree(resolution))) {}
+ OcTree(FCL_REAL resolution) : tree(boost::shared_ptr<const octomap::OcTree>(new octomap::OcTree(resolution))) {}
/// @brief construct octree from octomap
- OcTree(const boost::shared_ptr<octomap::OcTree>& tree_) : tree(tree_) {}
+ OcTree(const boost::shared_ptr<const octomap::OcTree>& tree_) : tree(tree_) {}
/// @brief compute the AABB for the octree in its local coordinate system
void computeLocalAABB()
@@ -107,12 +107,6 @@ public:
return (!isNodeOccupied(node)) && (!isNodeFree(node));
}
- /// @brief update the occupied information for a cell
- inline void updateNode(FCL_REAL x, FCL_REAL y, FCL_REAL z, bool occupied)
- {
- tree->updateNode(octomap::point3d(x, y, z), occupied);
- }
-
/// @brief transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we
/// only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).
inline std::vector<boost::array<FCL_REAL, 6> > toBoxes() const
--
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