void LLOcclusionCullingGroup::clearOcclusionState(eOcclusionState state, S32 mode)
{
if (mode > STATE_MODE_SINGLE)
{
if (mode == STATE_MODE_DIFF)
{
LLSpatialClearOcclusionStateDiff clearer(state);
clearer.traverse(mOctreeNode);
}
else if (mode == STATE_MODE_BRANCH)
{
LLSpatialClearOcclusionState clearer(state);
clearer.traverse(mOctreeNode);
}
else
{
for (U32 i = 0; i < LLViewerCamera::NUM_CAMERAS; i++)
{
mOcclusionState[i] &= ~state;
}
}
}
else
{
mOcclusionState[LLViewerCamera::sCurCameraID] &= ~state;
}
}
int main()
{
setter();
saver();
clearer();
start_counter();
loader();
stop_counter();
dumper();
clearer();
start_counter();
loader_mem();
stop_counter();
dumper();
}
void code_heap::sweep() {
clear_free_blocks_from_all_blocks_iterator clearer(this);
allocator->sweep(clearer);
#ifdef FACTOR_DEBUG
verify_all_blocks_set();
#endif
}
void Costmap2D::raytraceFreespace(const Observation& clearing_observation){
//create the functor that we'll use to clear cells from the costmap
ClearCell clearer(costmap_);
double ox = clearing_observation.origin_.x;
double oy = clearing_observation.origin_.y;
sensor_msgs::PointCloud cloud = clearing_observation.cloud_;
//get the map coordinates of the origin of the sensor
unsigned int x0, y0;
if(!worldToMap(ox, oy, x0, y0)){
ROS_WARN("The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.", ox, oy);
return;
}
//we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
double map_end_x = origin_x_ + getSizeInMetersX();
double map_end_y = origin_y_ + getSizeInMetersY();
//for each point in the cloud, we want to trace a line from the origin and clear obstacles along it
for(unsigned int i = 0; i < cloud.points.size(); ++i){
double wx = cloud.points[i].x;
double wy = cloud.points[i].y;
//now we also need to make sure that the enpoint we're raytracing
//to isn't off the costmap and scale if necessary
double a = wx - ox;
double b = wy - oy;
//the minimum value to raytrace from is the origin
if(wx < origin_x_){
double t = (origin_x_ - ox) / a;
wx = origin_x_;
wy = oy + b * t;
}
if(wy < origin_y_){
double t = (origin_y_ - oy) / b;
wx = ox + a * t;
wy = origin_y_;
}
//the maximum value to raytrace to is the end of the map
if(wx > map_end_x){
double t = (map_end_x - ox) / a;
wx = map_end_x;
wy = oy + b * t;
}
if(wy > map_end_y){
double t = (map_end_y - oy) / b;
wx = ox + a * t;
wy = map_end_y;
}
//now that the vector is scaled correctly... we'll get the map coordinates of its endpoint
unsigned int x1, y1;
//check for legality just in case
if(!worldToMap(wx, wy, x1, y1))
continue;
unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
//and finally... we can execute our trace to clear obstacles along that line
raytraceLine(clearer, x0, y0, x1, y1, cell_raytrace_range);
}
}
