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Fixed compilation errors with octomap < 1.8

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This commit is contained in:
matlabbe
2018-02-09 10:53:39 -05:00
parent 2e58fa3c2f
commit c2d0628da1
3 changed files with 92 additions and 12 deletions
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24
corelib/include/rtabmap/core/OctoMap.h
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@@ -65,6 +65,21 @@ public:
char getOccupancyType() const {return type_;}
const octomap::point3d & getPointRef() const {return pointRef_;}
// following methods defined for octomap < 1.8 compatibility
inline RtabmapColorOcTreeNode* getChild(unsigned int i) {
return static_cast<RtabmapColorOcTreeNode*> (OcTreeNode::getChild(i));
}
inline const RtabmapColorOcTreeNode* getChild(unsigned int i) const {
return static_cast<const RtabmapColorOcTreeNode*> (OcTreeNode::getChild(i));
}
bool pruneNode();
void expandNode();
bool createChild(unsigned int i) {
if (children == NULL) allocChildren();
children[i] = new RtabmapColorOcTreeNode();
return true;
}
private:
int nodeRefId_;
char type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
@@ -145,14 +160,7 @@ class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTr
*/
class StaticMemberInitializer{
public:
StaticMemberInitializer() {
RtabmapColorOcTree* tree = new RtabmapColorOcTree(0.1);
// octomap >=1.8 (to save some memory)
//tree->clearKeyRays();
AbstractOcTree::registerTreeType(tree);
}
StaticMemberInitializer();
/**
* Dummy function to ensure that MSVC does not drop the