Hi Armin,

Thank you for allowing the community to give feedback!

Some remarks:
- constructor with double: Add const to double. In general, it is good 
to add const to scalar arguments (also appears in insertScan()).
- constructor with tree: The tree is copied isn't it? Why not passing a 
const reference?
- for castRay()/insertRay(), it would be nice to templatize them on a 
functor performing per-cell operation (of course, this implies adding 
this feature to the underlying octomap implementation). This would allow 
to decouple the map book-keeping operations from the functional ones. 
Probably in the case of an octree it is not trivial as one must allocate 
cells if the functor changes the map, but it is certainly generic and 
useful.

Kind regards,

Stéphane

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net