Method degradeOutdatedNodes

octomap/src/OcTreeStamped.cpp:49–59

  }

  void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) {
    unsigned int query_time = (unsigned int) time(NULL);

    for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs();
        it!= end; ++it) {
      if ( this->isNodeOccupied(*it)
           && ((query_time - it->getTimestamp()) > time_thres) ) {
        integrateMissNoTime(&*it);
      }
    }
  }

  void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const {
    OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, update);