CMatrixTemplateObjects.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CMatrixTemplateObjects_H
#define CMatrixTemplateObjects_H

#include <mrpt/math/CMatrixTemplate.h>

namespace mrpt
{
namespace math
{
/**  This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry.
 *    This class allows a very efficient representation of sparse matrixes where each cell is an arbitrary C++ class, 
 *    but its use must carefully observe the following rules:
 *                      - The type in the template especialization MUST be a class with a proper default constructor.
 *                      - Initially all entries are set to NULL pointers.
 *                      - Pointers can be manually asigned, or automatically created through a call to "CMatrixTemplateObjects<T>::allocAllObjects"
 *                      - Independently of how pointers are asigned, memory will be free by destroying objects for each non-NULL entry in the matrix. In some special situations, the user can indicate not to free those objects by calling "CMatrixTemplateObjects<T>::setDestroyBehavior", then it is up to the user to free the memory. In all cases the default behavior is to free the memory.
 *                      - Asignament operator with matrixes will COPY THE POINTERS, thus a copy of objects is not performed.
 *                      - WARNING: Objects are not deleted while shrinking the matrix by calling "setSize", thus please call ""CMatrixTemplateObjects<T>::freeAllObjects" or manually delete objects before shrinking.
 *
 * \ingroup mrpt_base_grp
 * \sa CMatrixTemplate
 */
template <class T>
class CMatrixTemplateObjects : public CMatrixTemplate<T*>
{
private:
        bool    m_freeObjects;

public:
        /** Copy constructor
        */
        CMatrixTemplateObjects(const CMatrixTemplate<T>& m) : CMatrixTemplate<T*>( m ), m_freeObjects(true)
        {
        }

        /** Constructor
        */
        CMatrixTemplateObjects(size_t row = 3, size_t col = 3) :  CMatrixTemplate<T*>( row, col ), m_freeObjects(true)
        {
                for (size_t i=0; i < CMatrixTemplate<T*>::getRowCount(); i++)
                        for (size_t j=0; j < CMatrixTemplate<T*>::getColCount(); j++)
                                CMatrixTemplate<T*>::m_Val[i][j] = NULL;
        }

        /** Changes the size of matrix
        */
        virtual void setSize(size_t row, size_t col)
        {
                //TODO: BUGFIX. Doesn't remove objetcs if row<m_Row or col<m_Col
        CMatrixTemplate<T*>::realloc(row,col,true);
        }

        /** Destructor
          */
        virtual ~CMatrixTemplateObjects()
        {
                if (m_freeObjects)
                        freeAllObjects();
        }

        /** Delete all the objects in the matrix and set all entries to NULL pointers.
          */
        void  freeAllObjects()
        {
                for (size_t i=0; i < CMatrixTemplate<T*>::getRowCount(); i++)
                        for (size_t j=0; j < CMatrixTemplate<T*>::getColCount(); j++)
                                if (CMatrixTemplate<T*>::m_Val[i][j]!=NULL)
                                {
                                        delete CMatrixTemplate<T*>::m_Val[i][j];
                                        CMatrixTemplate<T*>::m_Val[i][j] = NULL;
                                }
        }

        /** Assignment operator
        */
        CMatrixTemplateObjects& operator = (const CMatrixTemplateObjects& m)
        {
                CMatrixTemplate<T*>::realloc( m.getRowCount(), m.getColCount() );

                for (size_t i=0; i < CMatrixTemplate<T*>::getRowCount(); i++)
                        for (size_t j=0; j < CMatrixTemplate<T*>::getColCount(); j++)
                                CMatrixTemplate<T*>::m_Val[i][j] = m.m_Val[i][j];
                return *this;
        }

        /** Sets the behavior on matrix destroy.
          * See the general description of the class on the top.
          */
        void  setDestroyBehavior(bool freeObjects = true)
        {
                m_freeObjects = freeObjects;
        }

        /** Alloc memory for all the non-NULL entries in the matrix.
          * See the general description of the class on the top.
          */
        void  allocAllObjects()
        {
                for (size_t i=0; i < CMatrixTemplate<T*>::getRowCount(); i++)
                        for (size_t j=0; j < CMatrixTemplate<T*>::getColCount(); j++)
                                if (NULL==CMatrixTemplate<T*>::m_Val[i][j])
                                        CMatrixTemplate<T*>::m_Val[i][j] = new T();
        }

}; // end of class definition


        } // End of namespace
} // End of namespace

#endif