00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef OCTREE_NODE_POOL_H 00039 #define OCTREE_NODE_POOL_H 00040 00041 #include <vector> 00042 00043 #include <pcl/pcl_macros.h> 00044 00045 using namespace std; 00046 00047 namespace pcl 00048 { 00049 namespace octree 00050 { 00051 00053 00057 template<typename NodeT> 00058 class OctreeNodePool 00059 { 00060 public: 00062 OctreeNodePool () : 00063 nodePool_ () 00064 { 00065 } 00066 00068 virtual 00069 ~OctreeNodePool () 00070 { 00071 deletePool (); 00072 } 00073 00077 inline 00078 void 00079 pushNode (NodeT* node_arg) 00080 { 00081 nodePool_.push_back (node_arg); 00082 } 00083 00087 inline NodeT* 00088 popNode () 00089 { 00090 00091 NodeT* newLeafNode; 00092 00093 if (!nodePool_.size ()) 00094 { 00095 // leaf pool is empty 00096 // we need to create a new octree leaf class 00097 newLeafNode = new NodeT (); 00098 } 00099 else 00100 { 00101 // reuse leaf node from branch pool 00102 newLeafNode = nodePool_.back (); 00103 nodePool_.pop_back (); 00104 newLeafNode->reset (); 00105 } 00106 00107 return newLeafNode; 00108 } 00109 00110 00113 void 00114 deletePool () 00115 { 00116 // delete all branch instances from branch pool 00117 while (!nodePool_.empty ()) 00118 { 00119 delete (nodePool_.back ()); 00120 nodePool_.pop_back (); 00121 } 00122 } 00123 00124 protected: 00125 vector<NodeT*> nodePool_; 00126 }; 00127 00128 } 00129 } 00130 00131 #endif