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      <name>MapNode</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a8fdfe5280a44c32bfad49936db3de832</anchor>
      <arglist>(const Pointcloud &amp;cloud, pose6d origin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setId</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a0f1793581e268aa8c91ebc74854c457f</anchor>
      <arglist>(std::string newid)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateMap</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>aa62f939952cbf3580c27c44d1ca25097</anchor>
      <arglist>(const Pointcloud &amp;cloud, point3d sensor_origin)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>writeMap</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>ab6a785bb93f7d83e4a04dd6ede732350</anchor>
      <arglist>(std::string filename)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MapNode</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a7b48ab96feedbd370f8baf2b00dc0841</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a383a4df681c95534266f34a679dae474</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>readMap</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a3c387b3912f64ba44cdd7ac11a026059</anchor>
      <arglist>(std::string filename)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>id</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a218f41c8056d80fe15d498cb7c3158b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TREETYPE *</type>
      <name>node_map</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a5f7fe263ee153452e7edab1e269832b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pose6d</type>
      <name>origin</name>
      <anchorfile>classoctomap_1_1MapNode.html</anchorfile>
      <anchor>a342eae6ab0a1dd96cb4bc13c0d0fc910</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>octomap::OccupancyOcTreeBase</name>
    <filename>classoctomap_1_1OccupancyOcTreeBase.html</filename>
    <templarg>NODE</templarg>
    <base>OcTreeBaseImpl&lt; NODE, AbstractOccupancyOcTree &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>bbxSet</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af2020deca883bf050e678c6436988b7b</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>castRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a22956f418e0a63ec3dfb4821f5300a25</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, point3d &amp;end, bool ignoreUnknownCells=false, double maxRange=-1.0) const </arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysBegin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a16c12ebec359485faf68c67977371a08</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysEnd</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a08a6539101154de535890c18b2a0343c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeDiscreteUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a36031c1e3046f265257c951094a1e571</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a5ee31e9602d5347f49fec7e0afc47e22</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>enableChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4cc466fc662fe007f218fd5f51f3edba</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXBounds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abfad80701bca6864e43c76726b0df7da</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXCenter</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaf505a163b211dd7678caf01dbc2f4ba</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>adcab0b70859881d0a2ef080af2356e9b</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a764ae6dd1a5ee22858ec0ba0f72cb768</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getNormals</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a44daf1f70083202ac8277dc9574b1d9c</anchor>
      <arglist>(const point3d &amp;point, std::vector&lt; point3d &gt; &amp;normals, bool unknownStatus=true) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getRayIntersection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad52f3a48a2fc634b2cc60c5054f3d480</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, const point3d &amp;center, point3d &amp;intersection, double delta=0.0) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a65963bf3e34131f640e87fbdb987d239</anchor>
      <arglist>(const point3d &amp;p) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aba9b7931ffdfdf8b0df4c3489d015e54</anchor>
      <arglist>(const OcTreeKey &amp;key) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abd890099ce99972f3a15bc1c8e7910e1</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae8cfa3d97018d0e4e8a595315c59c930</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, const pose6d &amp;frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a178f31896896a8545d0ef948706388f6</anchor>
      <arglist>(const ScanNode &amp;scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloudRays</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a815425dd445c3ee6f5674e1b3d653f3f</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>insertRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a0ccf2094533a52089a9fc08eae285d6e</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, double maxrange=-1.0, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateHit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a11578d8ac43bb661c96012dbe3f1f48c</anchor>
      <arglist>(NODE *occupancyNode) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMiss</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa3f7ecd6ce9435555e6731e75f77100a</anchor>
      <arglist>(NODE *occupancyNode) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isChangeDetectionEnabled</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aee24342e036b82b55eefcab274408c67</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa1a083e1fc0af67e4089fd2bf47170bc</anchor>
      <arglist>(NODE *occupancyNode) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a30ab3650a7edeb74b1d414461fe31bd0</anchor>
      <arglist>(NODE &amp;occupancyNode) const </arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>numChangesDetected</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8bef63746796f272dfe5e545ef73d46a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afffa8a3c2bc41fc986a98fd09acdb813</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4f86f67be7814b87a5d002be47ee1190</anchor>
      <arglist>(const OccupancyOcTreeBase&lt; NODE &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa40a721a620d6023e04ec0013444b2b4</anchor>
      <arglist>(std::istream &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a9a7d5e0764b641db04d3b87fdbba39f8</anchor>
      <arglist>(std::istream &amp;s, NODE *node)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab1b94303bdfff6c27547c0d5f7085017</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a20440262a32b80919913417e87385645</anchor>
      <arglist>(point3d &amp;max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42cd4dc782682358ec1651ea14ec3316</anchor>
      <arglist>(point3d &amp;min)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af20e4e9e6b359eb40a1cacddf326c910</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a80cd5352f879d5aded3cd3a092c4e928</anchor>
      <arglist>(const point3d &amp;value, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a940ec5873f5ed23db880ede0f31f8c61</anchor>
      <arglist>(double x, double y, double z, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a6e90f702570a394954f83f82fb7b293d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateInnerOccupancy</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a250f77b38dfd4eafe5d954979d77d0e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a871fcd783a7a659dc58bb3081d93e661</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af5a27bdd2fa63ec9cd4b441514094f1d</anchor>
      <arglist>(const point3d &amp;value, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42141c1c5a093cc1b48dea820d0c1111</anchor>
      <arglist>(double x, double y, double z, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aca30be11d64f83d8c937624e347dae4c</anchor>
      <arglist>(const OcTreeKey &amp;key, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ac3c18854c849e582f27d1d1e4d2a4614</anchor>
      <arglist>(const point3d &amp;value, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual NODE *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a247d28baa5507d6d4091661eca0eb388</anchor>
      <arglist>(double x, double y, double z, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateNodeLogOdds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a74d53b087a71b5c84467de84380e5907</anchor>
      <arglist>(NODE *occupancyNode, const float &amp;update) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useBBXLimit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a055f971c772215c974c2fe4cec183e9c</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a775eeb5f41c8b3b4db0119cbe8281cd2</anchor>
      <arglist>(std::ostream &amp;s) const </arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad5fcaa13d00252e9c2748d8d07d5a019</anchor>
      <arglist>(std::ostream &amp;s, const NODE *node) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7bd80b0b320185e464fe96c0d0542ab6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>integrateMissOnRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaa4024dfb0d825e8e10299ad9d55ff8f</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab8ee1f4a01cb3ebc7c6779cab2d95f51</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>NODE *</type>
      <name>setNodeValueRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a62622bdf951d016e4611074e820507c9</anchor>
      <arglist>(NODE *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>toMaxLikelihoodRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd9a64204726215c65c80386ada661dd</anchor>
      <arglist>(NODE *node, unsigned int depth, unsigned int max_depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateInnerOccupancyRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae79d100be1e5eb3d55c1a91751df28c8</anchor>
      <arglist>(NODE *node, unsigned int depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>NODE *</type>
      <name>updateNodeRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af8bf531bac61c50a152885a54a02f5de</anchor>
      <arglist>(NODE *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_max</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abdb60fb3020a5bb347167d1bfaa65335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_max_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7a40102a8e6d48ec09d576482a8fde9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_min</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a1a0841eef190e9eb6c07db41bc047f8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_min_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd858331fd9954e545383520e324ff29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KeyBoolMap</type>
      <name>changed_keys</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a842d31e238713bfc8afe708e97b859b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_bbx_limit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab2ad82f344d43a0558d69b9113a4c257</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_change_detection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8a220400856023e41706e810fe724508</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>OccupancyOcTreeBase&lt; ColorOcTreeNode &gt;</name>
    <filename>classoctomap_1_1OccupancyOcTreeBase.html</filename>
    <base>OcTreeBaseImpl&lt; ColorOcTreeNode, AbstractOccupancyOcTree &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>bbxSet</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af2020deca883bf050e678c6436988b7b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>castRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a22956f418e0a63ec3dfb4821f5300a25</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, point3d &amp;end, bool ignoreUnknownCells=false, double maxRange=-1.0) const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysBegin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a16c12ebec359485faf68c67977371a08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysEnd</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a08a6539101154de535890c18b2a0343c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeDiscreteUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a36031c1e3046f265257c951094a1e571</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a5ee31e9602d5347f49fec7e0afc47e22</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>enableChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4cc466fc662fe007f218fd5f51f3edba</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXBounds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abfad80701bca6864e43c76726b0df7da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXCenter</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaf505a163b211dd7678caf01dbc2f4ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>adcab0b70859881d0a2ef080af2356e9b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a764ae6dd1a5ee22858ec0ba0f72cb768</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getNormals</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a44daf1f70083202ac8277dc9574b1d9c</anchor>
      <arglist>(const point3d &amp;point, std::vector&lt; point3d &gt; &amp;normals, bool unknownStatus=true) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getRayIntersection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad52f3a48a2fc634b2cc60c5054f3d480</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, const point3d &amp;center, point3d &amp;intersection, double delta=0.0) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a65963bf3e34131f640e87fbdb987d239</anchor>
      <arglist>(const point3d &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aba9b7931ffdfdf8b0df4c3489d015e54</anchor>
      <arglist>(const OcTreeKey &amp;key) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abd890099ce99972f3a15bc1c8e7910e1</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae8cfa3d97018d0e4e8a595315c59c930</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, const pose6d &amp;frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a178f31896896a8545d0ef948706388f6</anchor>
      <arglist>(const ScanNode &amp;scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloudRays</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a815425dd445c3ee6f5674e1b3d653f3f</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>insertRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a0ccf2094533a52089a9fc08eae285d6e</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, double maxrange=-1.0, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateHit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a11578d8ac43bb661c96012dbe3f1f48c</anchor>
      <arglist>(ColorOcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMiss</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa3f7ecd6ce9435555e6731e75f77100a</anchor>
      <arglist>(ColorOcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isChangeDetectionEnabled</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aee24342e036b82b55eefcab274408c67</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa1a083e1fc0af67e4089fd2bf47170bc</anchor>
      <arglist>(ColorOcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a30ab3650a7edeb74b1d414461fe31bd0</anchor>
      <arglist>(ColorOcTreeNode &amp;occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>numChangesDetected</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8bef63746796f272dfe5e545ef73d46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afffa8a3c2bc41fc986a98fd09acdb813</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4f86f67be7814b87a5d002be47ee1190</anchor>
      <arglist>(const OccupancyOcTreeBase&lt; ColorOcTreeNode &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa40a721a620d6023e04ec0013444b2b4</anchor>
      <arglist>(std::istream &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a9a7d5e0764b641db04d3b87fdbba39f8</anchor>
      <arglist>(std::istream &amp;s, ColorOcTreeNode *node)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab1b94303bdfff6c27547c0d5f7085017</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a20440262a32b80919913417e87385645</anchor>
      <arglist>(point3d &amp;max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42cd4dc782682358ec1651ea14ec3316</anchor>
      <arglist>(point3d &amp;min)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af20e4e9e6b359eb40a1cacddf326c910</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a80cd5352f879d5aded3cd3a092c4e928</anchor>
      <arglist>(const point3d &amp;value, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a940ec5873f5ed23db880ede0f31f8c61</anchor>
      <arglist>(double x, double y, double z, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a6e90f702570a394954f83f82fb7b293d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateInnerOccupancy</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a250f77b38dfd4eafe5d954979d77d0e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a871fcd783a7a659dc58bb3081d93e661</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af5a27bdd2fa63ec9cd4b441514094f1d</anchor>
      <arglist>(const point3d &amp;value, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42141c1c5a093cc1b48dea820d0c1111</anchor>
      <arglist>(double x, double y, double z, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aca30be11d64f83d8c937624e347dae4c</anchor>
      <arglist>(const OcTreeKey &amp;key, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ac3c18854c849e582f27d1d1e4d2a4614</anchor>
      <arglist>(const point3d &amp;value, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ColorOcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a247d28baa5507d6d4091661eca0eb388</anchor>
      <arglist>(double x, double y, double z, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateNodeLogOdds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a74d53b087a71b5c84467de84380e5907</anchor>
      <arglist>(ColorOcTreeNode *occupancyNode, const float &amp;update) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useBBXLimit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a055f971c772215c974c2fe4cec183e9c</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a775eeb5f41c8b3b4db0119cbe8281cd2</anchor>
      <arglist>(std::ostream &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad5fcaa13d00252e9c2748d8d07d5a019</anchor>
      <arglist>(std::ostream &amp;s, const ColorOcTreeNode *node) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7bd80b0b320185e464fe96c0d0542ab6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>integrateMissOnRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaa4024dfb0d825e8e10299ad9d55ff8f</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab8ee1f4a01cb3ebc7c6779cab2d95f51</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>ColorOcTreeNode *</type>
      <name>setNodeValueRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a62622bdf951d016e4611074e820507c9</anchor>
      <arglist>(ColorOcTreeNode *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>toMaxLikelihoodRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd9a64204726215c65c80386ada661dd</anchor>
      <arglist>(ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateInnerOccupancyRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae79d100be1e5eb3d55c1a91751df28c8</anchor>
      <arglist>(ColorOcTreeNode *node, unsigned int depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>ColorOcTreeNode *</type>
      <name>updateNodeRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af8bf531bac61c50a152885a54a02f5de</anchor>
      <arglist>(ColorOcTreeNode *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_max</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abdb60fb3020a5bb347167d1bfaa65335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_max_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7a40102a8e6d48ec09d576482a8fde9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_min</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a1a0841eef190e9eb6c07db41bc047f8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_min_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd858331fd9954e545383520e324ff29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KeyBoolMap</type>
      <name>changed_keys</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a842d31e238713bfc8afe708e97b859b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_bbx_limit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab2ad82f344d43a0558d69b9113a4c257</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_change_detection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8a220400856023e41706e810fe724508</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>OccupancyOcTreeBase&lt; OcTreeNode &gt;</name>
    <filename>classoctomap_1_1OccupancyOcTreeBase.html</filename>
    <base>OcTreeBaseImpl&lt; OcTreeNode, AbstractOccupancyOcTree &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>bbxSet</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af2020deca883bf050e678c6436988b7b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>castRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a22956f418e0a63ec3dfb4821f5300a25</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, point3d &amp;end, bool ignoreUnknownCells=false, double maxRange=-1.0) const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysBegin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a16c12ebec359485faf68c67977371a08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysEnd</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a08a6539101154de535890c18b2a0343c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeDiscreteUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a36031c1e3046f265257c951094a1e571</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a5ee31e9602d5347f49fec7e0afc47e22</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>enableChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4cc466fc662fe007f218fd5f51f3edba</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXBounds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abfad80701bca6864e43c76726b0df7da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXCenter</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaf505a163b211dd7678caf01dbc2f4ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>adcab0b70859881d0a2ef080af2356e9b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a764ae6dd1a5ee22858ec0ba0f72cb768</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getNormals</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a44daf1f70083202ac8277dc9574b1d9c</anchor>
      <arglist>(const point3d &amp;point, std::vector&lt; point3d &gt; &amp;normals, bool unknownStatus=true) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getRayIntersection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad52f3a48a2fc634b2cc60c5054f3d480</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, const point3d &amp;center, point3d &amp;intersection, double delta=0.0) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a65963bf3e34131f640e87fbdb987d239</anchor>
      <arglist>(const point3d &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aba9b7931ffdfdf8b0df4c3489d015e54</anchor>
      <arglist>(const OcTreeKey &amp;key) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abd890099ce99972f3a15bc1c8e7910e1</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae8cfa3d97018d0e4e8a595315c59c930</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, const pose6d &amp;frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a178f31896896a8545d0ef948706388f6</anchor>
      <arglist>(const ScanNode &amp;scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloudRays</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a815425dd445c3ee6f5674e1b3d653f3f</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>insertRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a0ccf2094533a52089a9fc08eae285d6e</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, double maxrange=-1.0, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateHit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a11578d8ac43bb661c96012dbe3f1f48c</anchor>
      <arglist>(OcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMiss</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa3f7ecd6ce9435555e6731e75f77100a</anchor>
      <arglist>(OcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isChangeDetectionEnabled</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aee24342e036b82b55eefcab274408c67</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa1a083e1fc0af67e4089fd2bf47170bc</anchor>
      <arglist>(OcTreeNode *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a30ab3650a7edeb74b1d414461fe31bd0</anchor>
      <arglist>(OcTreeNode &amp;occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>numChangesDetected</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8bef63746796f272dfe5e545ef73d46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afffa8a3c2bc41fc986a98fd09acdb813</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4f86f67be7814b87a5d002be47ee1190</anchor>
      <arglist>(const OccupancyOcTreeBase&lt; OcTreeNode &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa40a721a620d6023e04ec0013444b2b4</anchor>
      <arglist>(std::istream &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a9a7d5e0764b641db04d3b87fdbba39f8</anchor>
      <arglist>(std::istream &amp;s, OcTreeNode *node)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab1b94303bdfff6c27547c0d5f7085017</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a20440262a32b80919913417e87385645</anchor>
      <arglist>(point3d &amp;max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42cd4dc782682358ec1651ea14ec3316</anchor>
      <arglist>(point3d &amp;min)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af20e4e9e6b359eb40a1cacddf326c910</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a80cd5352f879d5aded3cd3a092c4e928</anchor>
      <arglist>(const point3d &amp;value, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a940ec5873f5ed23db880ede0f31f8c61</anchor>
      <arglist>(double x, double y, double z, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a6e90f702570a394954f83f82fb7b293d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateInnerOccupancy</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a250f77b38dfd4eafe5d954979d77d0e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a871fcd783a7a659dc58bb3081d93e661</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af5a27bdd2fa63ec9cd4b441514094f1d</anchor>
      <arglist>(const point3d &amp;value, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42141c1c5a093cc1b48dea820d0c1111</anchor>
      <arglist>(double x, double y, double z, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aca30be11d64f83d8c937624e347dae4c</anchor>
      <arglist>(const OcTreeKey &amp;key, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ac3c18854c849e582f27d1d1e4d2a4614</anchor>
      <arglist>(const point3d &amp;value, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNode *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a247d28baa5507d6d4091661eca0eb388</anchor>
      <arglist>(double x, double y, double z, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateNodeLogOdds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a74d53b087a71b5c84467de84380e5907</anchor>
      <arglist>(OcTreeNode *occupancyNode, const float &amp;update) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useBBXLimit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a055f971c772215c974c2fe4cec183e9c</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a775eeb5f41c8b3b4db0119cbe8281cd2</anchor>
      <arglist>(std::ostream &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad5fcaa13d00252e9c2748d8d07d5a019</anchor>
      <arglist>(std::ostream &amp;s, const OcTreeNode *node) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7bd80b0b320185e464fe96c0d0542ab6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>integrateMissOnRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaa4024dfb0d825e8e10299ad9d55ff8f</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab8ee1f4a01cb3ebc7c6779cab2d95f51</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>OcTreeNode *</type>
      <name>setNodeValueRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a62622bdf951d016e4611074e820507c9</anchor>
      <arglist>(OcTreeNode *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>toMaxLikelihoodRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd9a64204726215c65c80386ada661dd</anchor>
      <arglist>(OcTreeNode *node, unsigned int depth, unsigned int max_depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateInnerOccupancyRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae79d100be1e5eb3d55c1a91751df28c8</anchor>
      <arglist>(OcTreeNode *node, unsigned int depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>OcTreeNode *</type>
      <name>updateNodeRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af8bf531bac61c50a152885a54a02f5de</anchor>
      <arglist>(OcTreeNode *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_max</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abdb60fb3020a5bb347167d1bfaa65335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_max_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7a40102a8e6d48ec09d576482a8fde9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_min</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a1a0841eef190e9eb6c07db41bc047f8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_min_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd858331fd9954e545383520e324ff29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KeyBoolMap</type>
      <name>changed_keys</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a842d31e238713bfc8afe708e97b859b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_bbx_limit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab2ad82f344d43a0558d69b9113a4c257</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_change_detection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8a220400856023e41706e810fe724508</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>OccupancyOcTreeBase&lt; OcTreeNodeStamped &gt;</name>
    <filename>classoctomap_1_1OccupancyOcTreeBase.html</filename>
    <base>OcTreeBaseImpl&lt; OcTreeNodeStamped, AbstractOccupancyOcTree &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>bbxSet</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af2020deca883bf050e678c6436988b7b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>castRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a22956f418e0a63ec3dfb4821f5300a25</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, point3d &amp;end, bool ignoreUnknownCells=false, double maxRange=-1.0) const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysBegin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a16c12ebec359485faf68c67977371a08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>KeyBoolMap::const_iterator</type>
      <name>changedKeysEnd</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a08a6539101154de535890c18b2a0343c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeDiscreteUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a36031c1e3046f265257c951094a1e571</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeUpdate</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a5ee31e9602d5347f49fec7e0afc47e22</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;origin, KeySet &amp;free_cells, KeySet &amp;occupied_cells, double maxrange)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>enableChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4cc466fc662fe007f218fd5f51f3edba</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXBounds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abfad80701bca6864e43c76726b0df7da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXCenter</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaf505a163b211dd7678caf01dbc2f4ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>adcab0b70859881d0a2ef080af2356e9b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>point3d</type>
      <name>getBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a764ae6dd1a5ee22858ec0ba0f72cb768</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getNormals</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a44daf1f70083202ac8277dc9574b1d9c</anchor>
      <arglist>(const point3d &amp;point, std::vector&lt; point3d &gt; &amp;normals, bool unknownStatus=true) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getRayIntersection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad52f3a48a2fc634b2cc60c5054f3d480</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;direction, const point3d &amp;center, point3d &amp;intersection, double delta=0.0) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a65963bf3e34131f640e87fbdb987d239</anchor>
      <arglist>(const point3d &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inBBX</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aba9b7931ffdfdf8b0df4c3489d015e54</anchor>
      <arglist>(const OcTreeKey &amp;key) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abd890099ce99972f3a15bc1c8e7910e1</anchor>
      <arglist>(const Pointcloud &amp;scan, const octomap::point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae8cfa3d97018d0e4e8a595315c59c930</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, const pose6d &amp;frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloud</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a178f31896896a8545d0ef948706388f6</anchor>
      <arglist>(const ScanNode &amp;scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>insertPointCloudRays</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a815425dd445c3ee6f5674e1b3d653f3f</anchor>
      <arglist>(const Pointcloud &amp;scan, const point3d &amp;sensor_origin, double maxrange=-1., bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>insertRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a0ccf2094533a52089a9fc08eae285d6e</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, double maxrange=-1.0, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateHit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a11578d8ac43bb661c96012dbe3f1f48c</anchor>
      <arglist>(OcTreeNodeStamped *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMiss</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa3f7ecd6ce9435555e6731e75f77100a</anchor>
      <arglist>(OcTreeNodeStamped *occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isChangeDetectionEnabled</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aee24342e036b82b55eefcab274408c67</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa1a083e1fc0af67e4089fd2bf47170bc</anchor>
      <arglist>(OcTreeNodeStamped *occupancyNode) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>nodeToMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a30ab3650a7edeb74b1d414461fe31bd0</anchor>
      <arglist>(OcTreeNodeStamped &amp;occupancyNode) const</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>numChangesDetected</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8bef63746796f272dfe5e545ef73d46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afffa8a3c2bc41fc986a98fd09acdb813</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a4f86f67be7814b87a5d002be47ee1190</anchor>
      <arglist>(const OccupancyOcTreeBase&lt; OcTreeNodeStamped &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aa40a721a620d6023e04ec0013444b2b4</anchor>
      <arglist>(std::istream &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>std::istream &amp;</type>
      <name>readBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a9a7d5e0764b641db04d3b87fdbba39f8</anchor>
      <arglist>(std::istream &amp;s, OcTreeNodeStamped *node)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetChangeDetection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab1b94303bdfff6c27547c0d5f7085017</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMax</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a20440262a32b80919913417e87385645</anchor>
      <arglist>(point3d &amp;max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBBXMin</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42cd4dc782682358ec1651ea14ec3316</anchor>
      <arglist>(point3d &amp;min)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af20e4e9e6b359eb40a1cacddf326c910</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a80cd5352f879d5aded3cd3a092c4e928</anchor>
      <arglist>(const point3d &amp;value, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>setNodeValue</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a940ec5873f5ed23db880ede0f31f8c61</anchor>
      <arglist>(double x, double y, double z, float log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toMaxLikelihood</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a6e90f702570a394954f83f82fb7b293d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateInnerOccupancy</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a250f77b38dfd4eafe5d954979d77d0e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a871fcd783a7a659dc58bb3081d93e661</anchor>
      <arglist>(const OcTreeKey &amp;key, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af5a27bdd2fa63ec9cd4b441514094f1d</anchor>
      <arglist>(const point3d &amp;value, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a42141c1c5a093cc1b48dea820d0c1111</anchor>
      <arglist>(double x, double y, double z, float log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aca30be11d64f83d8c937624e347dae4c</anchor>
      <arglist>(const OcTreeKey &amp;key, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ac3c18854c849e582f27d1d1e4d2a4614</anchor>
      <arglist>(const point3d &amp;value, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OcTreeNodeStamped *</type>
      <name>updateNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a247d28baa5507d6d4091661eca0eb388</anchor>
      <arglist>(double x, double y, double z, bool occupied, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateNodeLogOdds</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a74d53b087a71b5c84467de84380e5907</anchor>
      <arglist>(OcTreeNodeStamped *occupancyNode, const float &amp;update) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useBBXLimit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a055f971c772215c974c2fe4cec183e9c</anchor>
      <arglist>(bool enable)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryData</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a775eeb5f41c8b3b4db0119cbe8281cd2</anchor>
      <arglist>(std::ostream &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>writeBinaryNode</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ad5fcaa13d00252e9c2748d8d07d5a019</anchor>
      <arglist>(std::ostream &amp;s, const OcTreeNodeStamped *node) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7bd80b0b320185e464fe96c0d0542ab6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>integrateMissOnRay</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>aaa4024dfb0d825e8e10299ad9d55ff8f</anchor>
      <arglist>(const point3d &amp;origin, const point3d &amp;end, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>OccupancyOcTreeBase</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab8ee1f4a01cb3ebc7c6779cab2d95f51</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>OcTreeNodeStamped *</type>
      <name>setNodeValueRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a62622bdf951d016e4611074e820507c9</anchor>
      <arglist>(OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_value, bool lazy_eval=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>toMaxLikelihoodRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd9a64204726215c65c80386ada661dd</anchor>
      <arglist>(OcTreeNodeStamped *node, unsigned int depth, unsigned int max_depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateInnerOccupancyRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ae79d100be1e5eb3d55c1a91751df28c8</anchor>
      <arglist>(OcTreeNodeStamped *node, unsigned int depth)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>OcTreeNodeStamped *</type>
      <name>updateNodeRecurs</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>af8bf531bac61c50a152885a54a02f5de</anchor>
      <arglist>(OcTreeNodeStamped *node, bool node_just_created, const OcTreeKey &amp;key, unsigned int depth, const float &amp;log_odds_update, bool lazy_eval=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_max</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>abdb60fb3020a5bb347167d1bfaa65335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_max_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a7a40102a8e6d48ec09d576482a8fde9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>point3d</type>
      <name>bbx_min</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a1a0841eef190e9eb6c07db41bc047f8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OcTreeKey</type>
      <name>bbx_min_key</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>afd858331fd9954e545383520e324ff29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KeyBoolMap</type>
      <name>changed_keys</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a842d31e238713bfc8afe708e97b859b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_bbx_limit</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>ab2ad82f344d43a0558d69b9113a4c257</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_change_detection</name>
      <anchorfile>classoctomap_1_1OccupancyOcTreeBase.html</anchorfile>
      <anchor>a8a220400856023e41706e810fe724508</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>octomap::OcTree</name>
    <filename>classoctomap_1_1OcTree.html</filename>
    <base>OccupancyOcTreeBase&lt; OcTreeNode &gt;</base>
    <class kind="class">octomap::OcTree::StaticMemberInitializer</class>
    <member kind="function">
      <type>OcTree *</type>
      <name>create</name>
      <anchorfile>classoctomap_1_1OcTree.html</anchorfile>
      <anchor>a787f843eb5639731742a248aa7ff800a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
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      <arglist>(double x, double y, double z, unsigned depth, OcTreeKey &amp;key) const</arglist>
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      <arglist>(double coordinate, key_type &amp;key) const</arglist>
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      <arglist>(ColorOcTreeNode *node, unsigned int childIdx)</arglist>
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      <arglist>(double x, double y, double z, unsigned int depth=0)</arglist>
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      <arglist>(const point3d &amp;value, unsigned int depth=0)</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned int depth=0)</arglist>
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      <arglist>(ColorOcTreeNode *node, unsigned int childIdx)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(ColorOcTreeNode *node)</arglist>
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      <name>getMetricMax</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <type>virtual void</type>
      <name>getMetricMin</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>ab1479b7f99deb122bc7082e9c68c10e3</anchor>
      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <type>virtual void</type>
      <name>getMetricSize</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>acee60223fe396b4dcc3498f7236f88a2</anchor>
      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <type>virtual void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <type>ColorOcTreeNode *</type>
      <name>getNodeChild</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(ColorOcTreeNode *node, unsigned int childIdx) const</arglist>
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      <type>const ColorOcTreeNode *</type>
      <name>getNodeChild</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *node, unsigned int childIdx) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(unsigned depth) const</arglist>
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      <type>size_t</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>double</type>
      <name>getResolution</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a9f052f60b7381a574d20d2e05d519ec4</anchor>
      <arglist>() const</arglist>
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      <type>ColorOcTreeNode *</type>
      <name>getRoot</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>unsigned int</type>
      <name>getTreeDepth</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>std::string</type>
      <name>getTreeType</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>void</type>
      <name>getUnknownLeafCenters</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <type>virtual bool</type>
      <name>isNodeCollapsible</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *node) const</arglist>
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      <type>double</type>
      <name>keyToCoord</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <type>double</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key) const</arglist>
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      <type>point3d</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <type>point3d</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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      <type>unsigned long long</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>virtual size_t</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>virtual size_t</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *node, unsigned int childIdx) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *node) const</arglist>
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      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double resolution)</arglist>
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      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeBaseImpl&lt; ColorOcTreeNode, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeBaseImpl&lt; ColorOcTreeNode, AbstractOccupancyOcTree &gt; &amp;rhs) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(ColorOcTreeNode *node)</arglist>
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      <type>std::istream &amp;</type>
      <name>readData</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(std::istream &amp;s)</arglist>
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      <type>ColorOcTreeNode *</type>
      <name>search</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double x, double y, double z, unsigned int depth=0) const</arglist>
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      <type>ColorOcTreeNode *</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const point3d &amp;value, unsigned int depth=0) const</arglist>
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      <type>ColorOcTreeNode *</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key, unsigned int depth=0) const</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double r)</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a59134d1bb4bbdf810f1b17d94e32c10d</anchor>
      <arglist>(OcTreeBaseImpl&lt; ColorOcTreeNode, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <type>double</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(std::ostream &amp;s) const</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(ColorOcTreeNode *node)</arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a99b15f54eab276f75eed14b624bf6728</anchor>
      <arglist>(ColorOcTreeNode *node, size_t &amp;num_nodes) const</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a8e928948e7d35138807a35d9e260cea8</anchor>
      <arglist>(ColorOcTreeNode *node)</arglist>
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      <type>bool</type>
      <name>deleteNodeRecurs</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &amp;key)</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>afca94cedad98b484735241bc9d39824b</anchor>
      <arglist>(ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth)</arglist>
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      <type>size_t</type>
      <name>getNumLeafNodesRecurs</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *parent) const</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>()</arglist>
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      <type></type>
      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a682fce39276fb2eaeb6afbeb0c185687</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a8ffbd8251630191b85ce7c9887ec43ff</anchor>
      <arglist>(ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &amp;num_pruned)</arglist>
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    <member kind="function" protection="protected">
      <type>std::istream &amp;</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(ColorOcTreeNode *, std::istream &amp;s)</arglist>
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      <type>std::ostream &amp;</type>
      <name>writeNodesRecurs</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const ColorOcTreeNode *, std::ostream &amp;s) const</arglist>
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      <type>std::vector&lt; KeyRay &gt;</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <type>const leaf_bbx_iterator</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <type>const leaf_iterator</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>[3]</arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const point3d &amp;value, unsigned int depth=0)</arglist>
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      <arglist>(CountingOcTreeNode *node)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(CountingOcTreeNode *node, unsigned int childIdx) const</arglist>
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      <arglist>(const CountingOcTreeNode *node, unsigned int childIdx) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <arglist>(const CountingOcTreeNode *node) const</arglist>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <arglist>(key_type key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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      <arglist>(NODE *node)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(NODE *node, unsigned int childIdx) const</arglist>
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      <arglist>(const NODE *node, unsigned int childIdx) const</arglist>
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      <arglist>(unsigned depth) const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <arglist>(const NODE *node) const</arglist>
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      <name>keyToCoord</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <name>keyToCoord</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const NODE *node, unsigned int childIdx) const</arglist>
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      <arglist>(const NODE *node) const</arglist>
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      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double resolution)</arglist>
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      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeBaseImpl&lt; NODE, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeBaseImpl&lt; NODE, AbstractOccupancyOcTree &gt; &amp;rhs) const</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *node)</arglist>
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      <arglist>(std::istream &amp;s)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double x, double y, double z, unsigned int depth=0) const</arglist>
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      <arglist>(const point3d &amp;value, unsigned int depth=0) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned int depth=0) const</arglist>
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      <arglist>(double r)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(OcTreeBaseImpl&lt; NODE, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <type>double</type>
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      <arglist>()</arglist>
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      <arglist>(NODE *node)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *node, size_t &amp;num_nodes) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *node)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &amp;key)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>afca94cedad98b484735241bc9d39824b</anchor>
      <arglist>(NODE *node, unsigned int depth, unsigned int max_depth)</arglist>
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      <name>getNumLeafNodesRecurs</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const NODE *parent) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>()</arglist>
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      <type></type>
      <name>OcTreeBaseImpl</name>
      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
      <anchor>a682fce39276fb2eaeb6afbeb0c185687</anchor>
      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
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      <type>void</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &amp;num_pruned)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(NODE *, std::istream &amp;s)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const NODE *, std::ostream &amp;s) const</arglist>
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      <type>std::vector&lt; KeyRay &gt;</type>
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      <arglist></arglist>
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      <type>const leaf_bbx_iterator</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <type>const leaf_iterator</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>[3]</arglist>
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      <arglist>(NODE *node)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <arglist>(const NODE *node) const</arglist>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <arglist>(key_type key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(OcTreeNode *node)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(OcTreeNode *node, unsigned int childIdx) const</arglist>
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      <arglist>(const OcTreeNode *node, unsigned int childIdx) const</arglist>
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      <arglist>(unsigned depth) const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <arglist>(const OcTreeNode *node) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(key_type key) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const OcTreeNode *node, unsigned int childIdx) const</arglist>
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      <arglist>(const OcTreeNode *node) const</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double resolution)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(const OcTreeBaseImpl&lt; OcTreeNode, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <arglist>()</arglist>
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      <arglist>(OcTreeNode *node)</arglist>
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      <arglist>(std::istream &amp;s)</arglist>
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      <arglist>(double x, double y, double z, unsigned int depth=0) const</arglist>
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      <arglist>(const point3d &amp;value, unsigned int depth=0) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned int depth=0) const</arglist>
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      <arglist>(double r)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(OcTreeBaseImpl&lt; OcTreeNode, AbstractOccupancyOcTree &gt; &amp;rhs)</arglist>
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      <arglist>()</arglist>
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      <arglist>(OcTreeNode *node)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(OcTreeNode *node, size_t &amp;num_nodes) const</arglist>
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      <arglist>(OcTreeNode *node)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(OcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &amp;key)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(OcTreeNode *node, unsigned int depth, unsigned int max_depth)</arglist>
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      <arglist>(const OcTreeNode *parent) const</arglist>
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      <arglist>()</arglist>
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      <type></type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(double resolution, unsigned int tree_depth, unsigned int tree_max_val)</arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist>(OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &amp;num_pruned)</arglist>
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      <arglist>(OcTreeNode *, std::istream &amp;s)</arglist>
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      <arglist>(const OcTreeNode *, std::ostream &amp;s) const</arglist>
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      <arglist></arglist>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <type>const leaf_iterator</type>
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      <anchorfile>classoctomap_1_1OcTreeBaseImpl.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const point3d &amp;value, unsigned int depth=0)</arglist>
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      <arglist>(OcTreeNodeStamped *node, unsigned int childIdx)</arglist>
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      <arglist>(OcTreeNodeStamped *node)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z)</arglist>
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      <arglist>(double &amp;x, double &amp;y, double &amp;z) const</arglist>
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      <arglist>(OcTreeNodeStamped *node, unsigned int childIdx) const</arglist>
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      <arglist>(const OcTreeNodeStamped *node, unsigned int childIdx) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(point3d_list &amp;node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const</arglist>
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      <arglist>(const OcTreeNodeStamped *node) const</arglist>
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      <arglist>(key_type key, unsigned depth) const</arglist>
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      <arglist>(key_type key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key) const</arglist>
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      <arglist>(const OcTreeKey &amp;key, unsigned depth) const</arglist>
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