Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/octree/include/pcl/octree/octree_node_pool.h
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00037 
00038 #ifndef PCL_OCTREE_NODE_POOL_H
00039 #define PCL_OCTREE_NODE_POOL_H
00040 
00041 #include <vector>
00042 
00043 #include <pcl/pcl_macros.h>
00044 
00045 namespace pcl
00046 {
00047   namespace octree
00048   {
00049 
00050     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00051     /** \brief @b Octree node pool
00052      * \note Used to reduce memory allocation and class instantiation events when generating octrees at high rate
00053      * \author Julius Kammerl (julius@kammerl.de)
00054      */
00055     template<typename NodeT>
00056       class OctreeNodePool
00057       {
00058       public:
00059         /** \brief Empty constructor. */
00060         OctreeNodePool () :
00061             nodePool_ ()
00062         {
00063         }
00064 
00065         /** \brief Empty deconstructor. */
00066         virtual
00067         ~OctreeNodePool ()
00068         {
00069           deletePool ();
00070         }
00071 
00072         /** \brief Push node to pool
00073         *  \param node_arg: add this node to the pool
00074         *  */
00075         inline
00076         void
00077         pushNode (NodeT* node_arg)
00078         {
00079           nodePool_.push_back (node_arg);
00080         }
00081 
00082         /** \brief Pop node from pool - Allocates new nodes if pool is empty
00083         *  \return Pointer to octree node
00084         *  */
00085         inline NodeT*
00086         popNode ()
00087         {
00088 
00089           NodeT* newLeafNode;
00090 
00091           if (!nodePool_.size ())
00092           {
00093             // leaf pool is empty
00094             // we need to create a new octree leaf class
00095             newLeafNode = new NodeT ();
00096           }
00097           else
00098           {
00099             // reuse leaf node from branch pool
00100             newLeafNode = nodePool_.back ();
00101             nodePool_.pop_back ();
00102             newLeafNode->reset ();
00103           }
00104 
00105           return newLeafNode;
00106         }
00107 
00108 
00109         /** \brief Delete all nodes in pool
00110         *  */
00111         void
00112         deletePool ()
00113         {
00114           // delete all branch instances from branch pool
00115           while (!nodePool_.empty ())
00116           {
00117             delete (nodePool_.back ());
00118             nodePool_.pop_back ();
00119           }
00120         }
00121 
00122       protected:
00123         std::vector<NodeT*> nodePool_;
00124       };
00125 
00126   }
00127 }
00128 
00129 #endif