Point Cloud Library (PCL)
1.7.0
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octree
include
pcl
octree
octree_node_pool.h
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/*
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* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* * Redistributions of source code must retain the above copyright
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*/
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#ifndef PCL_OCTREE_NODE_POOL_H
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#define PCL_OCTREE_NODE_POOL_H
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#include <vector>
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#include <pcl/pcl_macros.h>
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namespace
pcl
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{
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namespace
octree
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{
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Octree node pool
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* \note Used to reduce memory allocation and class instantiation events when generating octrees at high rate
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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template
<
typename
NodeT>
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class
OctreeNodePool
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{
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public
:
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/** \brief Empty constructor. */
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OctreeNodePool
() :
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nodePool_
()
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{
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}
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/** \brief Empty deconstructor. */
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virtual
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~OctreeNodePool
()
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{
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deletePool
();
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}
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/** \brief Push node to pool
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* \param node_arg: add this node to the pool
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* */
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inline
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void
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pushNode
(NodeT* node_arg)
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{
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nodePool_
.push_back (node_arg);
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}
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/** \brief Pop node from pool - Allocates new nodes if pool is empty
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* \return Pointer to octree node
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* */
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inline
NodeT*
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popNode
()
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{
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NodeT* newLeafNode;
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if
(!
nodePool_
.size ())
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{
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// leaf pool is empty
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// we need to create a new octree leaf class
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newLeafNode =
new
NodeT ();
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}
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else
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{
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// reuse leaf node from branch pool
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newLeafNode =
nodePool_
.back ();
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nodePool_
.pop_back ();
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newLeafNode->reset ();
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}
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return
newLeafNode;
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}
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/** \brief Delete all nodes in pool
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* */
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void
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deletePool
()
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{
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// delete all branch instances from branch pool
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while
(!
nodePool_
.empty ())
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{
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delete
(
nodePool_
.back ());
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nodePool_
.pop_back ();
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}
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}
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protected
:
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std::vector<NodeT*>
nodePool_
;
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};
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}
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}
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#endif