1 /* 2 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 3 * http://octomap.github.com/ 4 * 5 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 6 * All rights reserved. 7 * License: New BSD 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions are met: 11 * 12 * * Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * * Redistributions in binary form must reproduce the above copyright 15 * notice, this list of conditions and the following disclaimer in the 16 * documentation and/or other materials provided with the distribution. 17 * * Neither the name of the University of Freiburg nor the names of its 18 * contributors may be used to endorse or promote products derived from 19 * this software without specific prior written permission. 20 * 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 22 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 23 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 24 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 25 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 * POSSIBILITY OF SUCH DAMAGE. 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 42 #include <octomap/math/Vector3.h> 43 #include <octomap/math/Pose6D.h> 44 #include <octomap/octomap_deprecated.h> 45 46 namespace octomap { 47 48 ///Use Vector3 (float precision) as a point3d in octomap 49 typedef octomath::Vector3 point3d; 50 /// Use our Pose6D (float precision) as pose6d in octomap 51 typedef octomath::Pose6D pose6d; 52 53 typedef std::vector<octomath::Vector3> point3d_collection; 54 typedef std::list<octomath::Vector3> point3d_list; 55 56 /// A voxel defined by its center point3d and its side length 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 82