text: /*
   * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
   * http://octomap.github.com/
   *
   * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
   * All rights reserved.
   * License: New BSD
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of the University of Freiburg nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include <octomap_ext/octomap.h>
  #include <octomap_ext/OcTree.h>
  
  using namespace std;
  using namespace octomap;
  
  
  void print_query_info(point3d query, OcTreeNode* node) {
    if (node != NULL) {
      cout << "occupancy probability at " << query << ":\t " << node->getOccupancy() << endl;
    }
    else 
      cout << "occupancy probability at " << query << ":\t is unknown" << endl;    
  }
  
  int main(int argc, char** argv) {
  
    cout << endl;
    cout << "generating example map" << endl;
  
    OcTree tree (0.1);  // create empty tree with resolution 0.1
  
  
    // insert some measurements of occupied cells
  
    for (int x=-20; x<20; x++) {
      for (int y=-20; y<20; y++) {
        for (int z=-20; z<20; z++) {
          point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
          tree.updateNode(endpoint, true); // integrate 'occupied' measurement
        }
      }
    }
  
    // insert some measurements of free cells
  
    for (int x=-30; x<30; x++) {
      for (int y=-30; y<30; y++) {
        for (int z=-30; z<30; z++) {
          point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
          tree.updateNode(endpoint, false);  // integrate 'free' measurement
        }
      }
    }
  
    cout << endl;
    cout << "performing some queries:" << endl;
    
    point3d query (0., 0., 0.);
    OcTreeNode* result = tree.search (query);
    print_query_info(query, result);
  
    query = point3d(-1.,-1.,-1.);
    result = tree.search (query);
    print_query_info(query, result);
  
    query = point3d(1.,1.,1.);
    result = tree.search (query);
    print_query_info(query, result);
  
  
    cout << endl;
    tree.writeBinary("simple_tree.bt");
    cout << "wrote example file simple_tree.bt" << endl << endl;
    cout << "now you can use octovis to visualize: octovis simple_tree.bt"  << endl;
    cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl  << endl;  
  
  }
  