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@ahornung ahornung released this 20 Apr 19:56
· 117 commits to devel since this release
v1.8.0
12fe991

  • Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
    enable safely deriving custom node classes. The following functions were
    moved from OcTreeDataNode into OcTreeBaseImpl:

    • createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
    • getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
    • expandNode() -> OcTreeBaseImpl::expandNode(...)
    • pruneNode() -> OcTreeBaseImpl::pruneNode(...)
    • hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
    • childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
    • collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)

    If you use custom derived node classes, you need to adjust your code to the
    new API (have a look at ColorOcTree.h as an example). In particular, you
    should no longer use the above node member functions in your nodes.

  • Extended unit tests for the new memory management

  • Added valgrind memcheck suppression file with known ("wanted") leaks due to
    StaticMemberInitializer.

  • Replaced unsigned short int for key values with octomap::key_type (=uint16_t) andunsigned charwithuint8_t` in API.

  • Cleaned up OcTreeKey and KeyRay API (used internally)

  • Reduced unneeded memory for StaticMemberInitializer

  • Cleaned up const refs to primitive types in ColorOcTree interface

  • Removed deprecated insertScan functions (replaced by insertPointCloud)

  • Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
    OcTreeBaseSE classes

  • octovis: Internal version of libQGLViewer updated to 2.6.3

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