Skip to content

Commit 54c3137

Browse files
ahornungahornung
committed
Merge branch 'devel' for 1.7.2 release
2 parents 03da11e + bb8570e commit 54c3137

File tree

18 files changed

+69
-48
lines changed

18 files changed

+69
-48
lines changed

‎dynamicEDT3D/CMakeLists.txt‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ ENABLE_TESTING()
66
# version (e.g. for packaging)
77
set(DYNAMICEDT3D_MAJOR_VERSION 1)
88
set(DYNAMICEDT3D_MINOR_VERSION 7)
9-
set(DYNAMICEDT3D_PATCH_VERSION 1)
9+
set(DYNAMICEDT3D_PATCH_VERSION 2)
1010
set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
1111
set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
1212

@@ -84,11 +84,11 @@ set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
8484
# Windows, spec. MSVC requires the .lib suffix for imported libs
8585
IF(WIN32)
8686
set(DYNAMICEDT3D_LIBRARY
87-
"${DYNAMICEDT3D_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
87+
"${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
8888
)
8989
ELSE()
9090
set(DYNAMICEDT3D_LIBRARY
91-
"${DYNAMICEDT3D_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
91+
"${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
9292
)
9393
ENDIF()
9494
# not used right now (export depends?)

‎dynamicEDT3D/dynamicEDT3DConfig.cmake.in‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -20,4 +20,4 @@ set(DYNAMICEDT3D_LIBRARY_DIRS "@DYNAMICEDT3D_LIB_DIR@")
2020
# Our library dependencies (contains definitions for IMPORTED targets)
2121
# include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
2222

23-
set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIBRARY@")
23+
set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")

‎dynamicEDT3D/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<package>
22
<name>dynamic_edt_3d</name>
3-
<version>1.7.1</version>
3+
<version>1.7.2</version>
44
<description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
55

66
<author email="[email protected]">Christoph Sprunk</author>

‎octomap/CHANGELOG.txt‎

Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,10 @@
1+
v1.7.2: 2016-03-26
2+
==================
3+
- BBX iterators fixed for empty trees (point3d version)
4+
- Removed qglviewer.h from some public octovis headers
5+
- Fixed QGLViewer library names for Ubuntu wily and xenial
6+
- Fixed install path in CMakeConfigs
7+
18
v1.7.1: 2016-01-31
29
==================
310
- Fixed #82: Enable uninstall target for complete project

‎octomap/CMakeLists.txt‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ ENABLE_TESTING()
66
# version (e.g. for packaging)
77
set(OCTOMAP_MAJOR_VERSION 1)
88
set(OCTOMAP_MINOR_VERSION 7)
9-
set(OCTOMAP_PATCH_VERSION 1)
9+
set(OCTOMAP_PATCH_VERSION 2)
1010
set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
1111
set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
1212
if(COMMAND cmake_policy)
@@ -87,17 +87,17 @@ set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
8787
# Windows, spec. MSVC requires the .lib suffix for imported libs
8888
IF(WIN32)
8989
set(OCTOMAP_LIBRARY
90-
"${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomap${CMAKE_IMPORT_LIBRARY_SUFFIX}"
90+
"${CMAKE_IMPORT_LIBRARY_PREFIX}octomap${CMAKE_IMPORT_LIBRARY_SUFFIX}"
9191
)
9292
set(OCTOMATH_LIBRARY
93-
"${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomath${CMAKE_IMPORT_LIBRARY_SUFFIX}"
93+
"${CMAKE_IMPORT_LIBRARY_PREFIX}octomath${CMAKE_IMPORT_LIBRARY_SUFFIX}"
9494
)
9595
ELSE()
9696
set(OCTOMAP_LIBRARY
97-
"${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX}"
97+
"${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX}"
9898
)
9999
set(OCTOMATH_LIBRARY
100-
"${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomath${CMAKE_SHARED_LIBRARY_SUFFIX}"
100+
"${CMAKE_SHARED_LIBRARY_PREFIX}octomath${CMAKE_SHARED_LIBRARY_SUFFIX}"
101101
)
102102
ENDIF()
103103

@@ -114,6 +114,7 @@ configure_file(octomap-config-version.cmake.in
114114
set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
115115
set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
116116
#set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
117+
117118
configure_file(octomap-config.cmake.in
118119
"${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
119120
configure_file(octomap-config-version.cmake.in

‎octomap/include/octomap/OcTreeIterator.hxx‎

Lines changed: 14 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,8 @@
6464
s.depth = 0;
6565
s.key[0] = s.key[1] = s.key[2] = tree->tree_max_val;
6666
stack.push(s);
67-
} else{ // construct the same as "end", tree must already be NULL
67+
} else{ // construct the same as "end"
68+
tree = NULL;
6869
this->maxDepth = 0;
6970
}
7071
}
@@ -349,16 +350,18 @@
349350
leaf_bbx_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* tree, const point3d& min, const point3d& max, unsigned char depth=0)
350351
: iterator_base(tree, depth)
351352
{
352-
353-
if (!this->tree->coordToKeyChecked(min, minKey) || !this->tree->coordToKeyChecked(max, maxKey)){
354-
// coordinates invalid, set to end iterator
355-
tree = NULL;
356-
this->maxDepth = 0;
357-
} else{ // else: keys are generated and stored
358-
359-
// advance from root to next valid leaf in bbx:
360-
this->stack.push(this->stack.top());
361-
this->operator ++();
353+
if (this->stack.size() > 0){
354+
assert(tree);
355+
if (!this->tree->coordToKeyChecked(min, minKey) || !this->tree->coordToKeyChecked(max, maxKey)){
356+
// coordinates invalid, set to end iterator
357+
tree = NULL;
358+
this->maxDepth = 0;
359+
} else{ // else: keys are generated and stored
360+
361+
// advance from root to next valid leaf in bbx:
362+
this->stack.push(this->stack.top());
363+
this->operator ++();
364+
}
362365
}
363366

364367
}

‎octomap/include/octomap/OcTreeKey.h‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ namespace octomap {
7777
bool operator== (const OcTreeKey &other) const {
7878
return ((k[0] == other[0]) && (k[1] == other[1]) && (k[2] == other[2]));
7979
}
80-
bool operator!= (const OcTreeKey &other) const {
80+
bool operator!= (const OcTreeKey& other) const {
8181
return( (k[0] != other[0]) || (k[1] != other[1]) || (k[2] != other[2]) );
8282
}
8383
OcTreeKey& operator=(const OcTreeKey& other){
@@ -131,7 +131,7 @@ namespace octomap {
131131
void reset() {
132132
end_of_ray = begin();
133133
}
134-
void addKey(OcTreeKey& k) {
134+
void addKey(const OcTreeKey& k) {
135135
assert(end_of_ray != ray.end());
136136
*end_of_ray = k;
137137
end_of_ray++;
@@ -167,7 +167,7 @@ namespace octomap {
167167
* @param[in] parent_key current (parent) key
168168
* @param[out] child_key computed child key
169169
*/
170-
inline void computeChildKey (const unsigned int& pos, const unsigned short int& center_offset_key,
170+
inline void computeChildKey (unsigned int pos, unsigned short int center_offset_key,
171171
const OcTreeKey& parent_key, OcTreeKey& child_key) {
172172
// x-axis
173173
if (pos & 1) child_key[0] = parent_key[0] + center_offset_key;

‎octomap/octomap-config.cmake.in‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -29,6 +29,6 @@ set(OCTOMAP_LIBRARY_DIRS "@OCTOMAP_LIB_DIR@")
2929

3030
# Set library names
3131
set(OCTOMAP_LIBRARIES
32-
"@OCTOMAP_LIBRARY@"
33-
"@OCTOMATH_LIBRARY@"
32+
"@OCTOMAP_LIB_DIR@/@OCTOMAP_LIBRARY@"
33+
"@OCTOMAP_LIB_DIR@/@OCTOMATH_LIBRARY@"
3434
)

‎octomap/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<package>
22
<name>octomap</name>
3-
<version>1.7.1</version>
3+
<version>1.7.2</version>
44
<description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
55
http://octomap.github.io for details.</description>
66

‎octomap/src/testing/test_iterators.cpp‎

Lines changed: 15 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -256,6 +256,21 @@ int main(int argc, char** argv) {
256256
iteratedNodes++;
257257
}
258258
EXPECT_EQ(iteratedNodes, 0);
259+
260+
octomap::point3d ptMinBBX(-0.1, -0.1, -0.1);
261+
octomap::point3d ptMaxBBX(0.1, 0.1, 0.1);
262+
for(OcTree::leaf_bbx_iterator l_it = emptyTree.begin_leafs_bbx(ptMinBBX, ptMaxBBX, maxDepth), l_end=emptyTree.end_leafs_bbx(); l_it!= l_end; ++l_it){
263+
iteratedNodes++;
264+
}
265+
EXPECT_EQ(iteratedNodes, 0);
266+
267+
octomap::OcTreeKey minBBX(10, 10, 16);
268+
octomap::OcTreeKey maxBBX(10, 10, 18);
269+
for(OcTree::leaf_bbx_iterator l_it = emptyTree.begin_leafs_bbx(minBBX, maxBBX, maxDepth), l_end=emptyTree.end_leafs_bbx(); l_it!= l_end; ++l_it){
270+
iteratedNodes++;
271+
}
272+
EXPECT_EQ(iteratedNodes, 0);
273+
259274

260275

261276

0 commit comments

Comments
 (0)