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<div class="title">parallelization.h</div> </div>
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<a href="parallelization_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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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_PARALLELIZATION_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define __MRPT_PARALLELIZATION_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">// This file declares helper structs for usage with TBB</span>
<a name="l00034"></a>00034 <span class="comment">// Refer to http://threadingbuildingblocks.org/</span>
<a name="l00035"></a>00035 <span class="comment">// (The following code blocks are based on OpenCV code - BSD license)</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#if MRPT_HAS_TBB</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #include <tbb/tbb_stddef.h></span>
<a name="l00039"></a>00039 <span class="preprocessor"> #if TBB_VERSION_MAJOR*100 + TBB_VERSION_MINOR >= 202</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor"> #include <tbb/tbb.h></span>
<a name="l00041"></a>00041 <span class="preprocessor"> #include <tbb/task.h></span>
<a name="l00042"></a>00042 <span class="preprocessor"> #undef min</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor"> #undef max</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor"> #undef MRPT_HAS_TBB</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor"> #define MRPT_HAS_TBB 0</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span>
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">// Define a common interface so if we don't have TBB it falls back to a good-old for loop:</span>
<a name="l00052"></a>00052 <span class="keyword">namespace </span>mrpt
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="keyword">namespace </span>system
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="preprocessor">#if MRPT_HAS_TBB</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span> <span class="keyword">typedef</span> tbb::blocked_range<int> BlockedRange;
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keyword">template</span><<span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00060"></a>00060 <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#a94041617d821901a4fb5e29f7a32cdbf">parallel_for</a>( <span class="keyword">const</span> BlockedRange& range, <span class="keyword">const</span> Body& body )
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <a class="code" href="namespacemrpt_1_1system.html#a94041617d821901a4fb5e29f7a32cdbf">tbb::parallel_for</a>(range, body);
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="keyword">template</span><<span class="keyword">typename</span> Iterator, <span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00066"></a>00066 <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#ad2fdc56782a61c7facc202a58ad829fe">parallel_do</a>( Iterator first, Iterator last, <span class="keyword">const</span> Body& body )
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <a class="code" href="namespacemrpt_1_1system.html#ad2fdc56782a61c7facc202a58ad829fe">tbb::parallel_do</a>(first, last, body);
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keyword">typedef</span> tbb::split Split;
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="keyword">template</span><<span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00074"></a>00074 <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#ad5032f6082229997c073d23e124ffc3b">parallel_reduce</a>( <span class="keyword">const</span> BlockedRange& range, Body& body )
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <a class="code" href="namespacemrpt_1_1system.html#ad5032f6082229997c073d23e124ffc3b">tbb::parallel_reduce</a>(range, body);
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">//typedef tbb::concurrent_vector<Rect> ConcurrentRectVector;</span>
<a name="l00080"></a>00080 <span class="preprocessor">#else</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span> <span class="comment">// Emulate TBB-like classes which fall back to an old "for"</span>
<a name="l00082"></a>00082 <span class="keyword">class </span>BlockedRange
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <span class="keyword">public</span>:
<a name="l00085"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a590b4e337c47eb3877de3297d7da05bc">00085</a> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a590b4e337c47eb3877de3297d7da05bc">BlockedRange</a>() : <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8dc535310e8c6625e95f209c2870f7af">_begin</a>(0), <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a40263c51a4e61b757961cca2e2462847">_end</a>(0), <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a5b96f87b72d4e2d345bfa2446aa2c887">_grainsize</a>(0) {}
<a name="l00086"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8febaf293010cfc91320045fe0eef44e">00086</a> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8febaf293010cfc91320045fe0eef44e">BlockedRange</a>(<span class="keywordtype">int</span> b, <span class="keywordtype">int</span> e, <span class="keywordtype">int</span> g=1) : <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8dc535310e8c6625e95f209c2870f7af">_begin</a>(b), <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a40263c51a4e61b757961cca2e2462847">_end</a>(e), <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a5b96f87b72d4e2d345bfa2446aa2c887">_grainsize</a>(g) {}
<a name="l00087"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#adb21245691abc043789751ffecb172cd">00087</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#adb21245691abc043789751ffecb172cd">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8dc535310e8c6625e95f209c2870f7af">_begin</a>; }
<a name="l00088"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a208741fd66c8a6a6eec11b2d0b0de006">00088</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a208741fd66c8a6a6eec11b2d0b0de006">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a40263c51a4e61b757961cca2e2462847">_end</a>; }
<a name="l00089"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a1b0846714017d18d40c93ad1157bf0f7">00089</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a1b0846714017d18d40c93ad1157bf0f7">grainsize</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a5b96f87b72d4e2d345bfa2446aa2c887">_grainsize</a>; }
<a name="l00090"></a>00090 <span class="keyword">protected</span>:
<a name="l00091"></a><a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a5b96f87b72d4e2d345bfa2446aa2c887">00091</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a8dc535310e8c6625e95f209c2870f7af">_begin</a>, <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a40263c51a4e61b757961cca2e2462847">_end</a>, <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html#a5b96f87b72d4e2d345bfa2446aa2c887">_grainsize</a>;
<a name="l00092"></a>00092 };
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keyword">template</span><<span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00095"></a><a class="code" href="namespacemrpt_1_1system.html#a94041617d821901a4fb5e29f7a32cdbf">00095</a> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#a94041617d821901a4fb5e29f7a32cdbf">parallel_for</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html">BlockedRange</a>& range, <span class="keyword">const</span> Body& body )
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 body(range);
<a name="l00098"></a>00098 }
<a name="l00099"></a><a class="code" href="namespacemrpt_1_1system.html#ad9a9d4516f01c93e8398d7f59bbad4c2">00099</a> <span class="keyword">typedef</span> std::vector<Rect> <a class="code" href="namespacemrpt_1_1system.html#ad9a9d4516f01c93e8398d7f59bbad4c2">ConcurrentRectVector</a>;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keyword">template</span><<span class="keyword">typename</span> Iterator, <span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00102"></a><a class="code" href="namespacemrpt_1_1system.html#ad2fdc56782a61c7facc202a58ad829fe">00102</a> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#ad2fdc56782a61c7facc202a58ad829fe">parallel_do</a>( Iterator first, Iterator last, <span class="keyword">const</span> Body& body )
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="keywordflow">for</span>( ; first != last; ++first )
<a name="l00105"></a>00105 body(*first);
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keyword">class </span>Split {};
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keyword">template</span><<span class="keyword">typename</span> Body> <span class="keyword">static</span> <span class="keyword">inline</span>
<a name="l00111"></a><a class="code" href="namespacemrpt_1_1system.html#ad5032f6082229997c073d23e124ffc3b">00111</a> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1system.html#ad5032f6082229997c073d23e124ffc3b">parallel_reduce</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1system_1_1_blocked_range.html">BlockedRange</a>& range, Body& body )
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 body(range);
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="preprocessor">#endif // MRPT_HAS_TBB</span>
<a name="l00117"></a>00117 <span class="preprocessor"></span>
<a name="l00118"></a>00118 } <span class="comment">// end NS</span>
<a name="l00119"></a>00119 } <span class="comment">// end NS</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="preprocessor">#endif</span>
</pre></div></div>
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