memory_pool.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2020-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2021 Nils Funk
 * SPDX-FileCopyrightText: 2020-2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_MEMORY_POOL_HPP
#define SE_MEMORY_POOL_HPP
 
#include <Eigen/Core>
#include <boost/pool/object_pool.hpp>
 
namespace se {
 
template<typename NodeT, typename BlockT>
class MemoryPool {
    public:
    NodeT* allocateRoot(const Eigen::Vector3i& coord, const int size)
    {
        return new (node_buffer_.malloc()) NodeT(coord, size, typename NodeT::DataType());
    }
 
    NodeT* allocateNode(NodeT* const parent_ptr,
                        const int child_idx,
                        const typename NodeT::DataType& init_data)
    {
        return new (node_buffer_.malloc()) NodeT(parent_ptr, child_idx, init_data);
    }
 
    BlockT* allocateBlock(NodeT* const parent_ptr,
                          const int child_idx,
                          const typename BlockT::DataType& init_data)
    {
        return new (block_buffer_.malloc()) BlockT(parent_ptr, child_idx, init_data);
    }
 
    void deleteNode(NodeT* const node_ptr)
    {
        node_buffer_.destroy(node_ptr);
    }
 
    void deleteBlock(BlockT* const block_ptr)
    {
        block_buffer_.destroy(block_ptr);
    }
 
    private:
    boost::object_pool<NodeT> node_buffer_;
    boost::object_pool<BlockT> block_buffer_;
};
 
} // namespace se
 
#endif // SE_MEMORY_POOL_HPP