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<h1>memory.h</h1><a href="memory_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef MRPT_MEMORY_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define MRPT_MEMORY_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>system
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment"> /** Returns the memory occupied by this process, in bytes */</span>
<a name="l00038"></a>00038 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1system.html#a7a11bc87455d4f9872ec600738984bdb" title="Returns the memory occupied by this process, in bytes.">getMemoryUsage</a>();
<a name="l00039"></a>00039 <span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** In platforms and compilers with support to "alloca", allocate a memory block on the stack; if alloca is not supported, it is emulated as a normal "malloc" - NOTICE: Since in some platforms alloca will be emulated with malloc, alloca_free MUST BE ALWAYS CALLED to avoid memory leaks.</span>
<a name="l00041"></a>00041 <span class="comment"> * This method MUST BE a macro rather than a function in order to operate on the caller's stack.</span>
<a name="l00042"></a>00042 <span class="comment"> * \sa mrpt_alloca_free</span>
<a name="l00043"></a>00043 <span class="comment"> */</span>
<a name="l00044"></a>00044 <span class="preprocessor">#if defined(_MSC_VER) && (_MSC_VER>=1400)</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span> <span class="comment">// Visual Studio 2005, 2008</span>
<a name="l00046"></a>00046 <span class="preprocessor"># define mrpt_alloca( nBytes ) _malloca(nBytes)</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ALLOCA)</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span> <span class="comment">// GCC</span>
<a name="l00049"></a>00049 <span class="preprocessor"># define mrpt_alloca( nBytes ) ::alloca(nBytes)</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span> <span class="comment">// Default: Emulate with memory in the heap:</span>
<a name="l00052"></a><a class="code" href="memory_8h.html#a773b27da13cd1f6538e738b7a84e38af">00052</a> <span class="preprocessor"># define mrpt_alloca( nBytes ) ::malloc( nBytes );</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** This method must be called to "free" each memory block allocated with "system::alloca": If the block was really allocated in the stack, no operation is actually performed, otherwise it will be freed from the heap.</span>
<a name="l00056"></a>00056 <span class="comment"> * This method MUST BE a macro rather than a function in order to operate on the caller's stack.</span>
<a name="l00057"></a>00057 <span class="comment"> * \sa mrpt_alloca</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a>00059 <span class="preprocessor">#if defined(_MSC_VER) && (_MSC_VER>=1400)</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span> <span class="comment">// Visual Studio 2005, 2008</span>
<a name="l00061"></a>00061 <span class="preprocessor"># define mrpt_alloca_free( mem_block ) _freea(mem_block)</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ALLOCA)</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span> <span class="comment">// GCC</span>
<a name="l00064"></a>00064 <span class="preprocessor"># define mrpt_alloca_free( mem_block )</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span> <span class="comment">// Default: Emulate with memory in the heap:</span>
<a name="l00067"></a><a class="code" href="memory_8h.html#a12a8436a4cf3392c2f09a72348e7493c">00067</a> <span class="preprocessor"># define mrpt_alloca_free( mem_block ) free(mem_block)</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a><a class="code" href="namespacemrpt_1_1system_1_1os.html">00070</a> <span class="keyword">namespace </span>os
<a name="l00071"></a>00071 {<span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** @name Aligned memory management</span>
<a name="l00073"></a>00073 <span class="comment"> @{ */</span>
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Returns an aligned memory block.</span>
<a name="l00076"></a>00076 <span class="comment"> * \param alignment The desired alignment, typ. 8 or 16 bytes. 1 means no alignment required. It must be a power of two.</span>
<a name="l00077"></a>00077 <span class="comment"> * \sa aligned_free, aligned_realloc, aligned_calloc</span>
<a name="l00078"></a>00078 <span class="comment"> * \note Based on code by William Chan</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a>00080 <span class="keywordtype">void</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> *<a class="code" href="namespacemrpt_1_1system_1_1os.html#a40295c41a02e957fdfb7af5a747fec4e" title="Returns an aligned memory block.">aligned_malloc</a>(<span class="keywordtype">size_t</span> bytes, <span class="keywordtype">size_t</span> alignment);
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Identical to aligned_malloc, but it zeroes the reserved memory block. */</span>
<a name="l00083"></a><a class="code" href="namespacemrpt_1_1system_1_1os.html#a1f0f740a33507bf943af5bac26e3abb0">00083</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> *<a class="code" href="namespacemrpt_1_1system_1_1os.html#a1f0f740a33507bf943af5bac26e3abb0" title="Identical to aligned_malloc, but it zeroes the reserved memory block.">aligned_calloc</a>(<span class="keywordtype">size_t</span> bytes, <span class="keywordtype">size_t</span> alignment)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <span class="keywordtype">void</span> *ptr = <a class="code" href="namespacemrpt_1_1system_1_1os.html#a40295c41a02e957fdfb7af5a747fec4e" title="Returns an aligned memory block.">mrpt::system::os::aligned_malloc</a>(bytes, alignment);
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (ptr) ::memset(ptr,0,bytes);
<a name="l00087"></a>00087 <span class="keywordflow">return</span> ptr;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Frees a memory block reserved by aligned_malloc.</span>
<a name="l00091"></a>00091 <span class="comment"> * \param alignment The desired alignment, typ. 8 or 16 bytes. 1 means no alignment required.</span>
<a name="l00092"></a>00092 <span class="comment"> * If old_ptr is NULL, a new block will be reserved from scratch.</span>
<a name="l00093"></a>00093 <span class="comment"> * \sa aligned_malloc, aligned_free</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> *<a class="code" href="namespacemrpt_1_1system_1_1os.html#aa0dd8ec272a9f40a191342057c185bd9" title="Frees a memory block reserved by aligned_malloc.">aligned_realloc</a>(<span class="keywordtype">void</span>* old_ptr, <span class="keywordtype">size_t</span> bytes, <span class="keywordtype">size_t</span> alignment);
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Frees a memory block reserved by aligned_malloc</span>
<a name="l00098"></a>00098 <span class="comment"> * \sa aligned_malloc</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1system_1_1os.html#ab6aa729988ee1bd79ce4922b0bfc1f54" title="Frees a memory block reserved by aligned_malloc.">aligned_free</a>(<span class="keywordtype">void</span>* p);
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Returns a pointer a bit forward in memory so it's aligned for the given boundary size</span>
<a name="l00103"></a>00103 <span class="comment"> * \note Function copied from OpenCV with a different name to avoid conflicts.</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="namespacemrpt_1_1system_1_1os.html#a41115a1ea7e5524400748ed93f4249e4">00105</a> <span class="keyword">template</span><<span class="keyword">typename</span> _Tp> <span class="keyword">inline</span> _Tp* <a class="code" href="namespacemrpt_1_1system_1_1os.html#a41115a1ea7e5524400748ed93f4249e4" title="Returns a pointer a bit forward in memory so it&#39;s aligned for the given boundary...">align_ptr</a>(_Tp* ptr, <span class="keywordtype">int</span> n=(<span class="keywordtype">int</span>)<span class="keyword">sizeof</span>(_Tp))
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <span class="keywordflow">return</span> (_Tp*)(((size_t)ptr + n-1) & -n);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** @} */</span>
<a name="l00111"></a>00111
<a name="l00112"></a>00112 } <span class="comment">// end namespace "os"</span>
<a name="l00113"></a>00113 } <span class="comment">// End of namespace</span>
<a name="l00114"></a>00114 } <span class="comment">// End of namespace</span>
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="preprocessor">#endif</span>
</pre></div></div>
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