GridMapCacheArray.h

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//=================================================================================================
// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef __GridMapCacheArray_h_
#define __GridMapCacheArray_h_

#include <Eigen/Core>

class CachedMapElement
{
public:
  float val;
  int index;
};

class GridMapCacheArray
{
public:

  GridMapCacheArray()
    : cacheArray(0)
    , arrayDimensions(-1,-1)
  {
    currCacheIndex = 0;
  }

  ~GridMapCacheArray()
  {
    deleteCacheArray();
  }

  void resetCache()
  {
    currCacheIndex++;
  }

  bool containsCachedData(int index, float& val)
  {
    const CachedMapElement& elem (cacheArray[index]);

    if (elem.index == currCacheIndex) {
      val = elem.val;
      return true;
    } else {
      return false;
    }
  }

  void cacheData(int index, float val)
  {
    CachedMapElement& elem (cacheArray[index]);
    elem.index = currCacheIndex;
    elem.val = val;
  }

  void setMapSize(const Eigen::Vector2i& newDimensions)
  {
    setArraySize(newDimensions);
  }

protected:

  void createCacheArray(const Eigen::Vector2i& newDimensions)
  {
    arrayDimensions = newDimensions;

    int sizeX = arrayDimensions[0];
    int sizeY = arrayDimensions[1];

    int size = sizeX * sizeY;

    cacheArray = new CachedMapElement [size];

    for (int x = 0; x < size; ++x) {
      cacheArray[x].index = -1;
    }
  }

  void deleteCacheArray()
  {
    delete[] cacheArray;
  }

  void setArraySize(const Eigen::Vector2i& newDimensions)
  {
    if (this->arrayDimensions != newDimensions) {
      if (cacheArray != 0) {
        deleteCacheArray();
        cacheArray = 0;
      }
      createCacheArray(newDimensions);
    }
  }

protected:

  CachedMapElement* cacheArray;    
  int currCacheIndex;              

  Eigen::Vector2i arrayDimensions; 

};


#endif