set initial pool size higher, add found_depth return to search #3
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For new trees, set the initial pool allocation to 128 to get a larger initial chunk and reduce the number of calls needed to the allocator. For copied trees, set the initial pool size to the tree size we are copying so only one initial allocation must be done.
c-andy-martin
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Reviewed 1 of 1 files at r1, 2 of 2 files at r2, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @c-andy-martin, @howardcochran, and @travisariggs)
octomap/include/octomap/OcTreeBaseImpl.hxx line 533 at r2 (raw file):
if (!nodeHasChildren(curNode)) { // TODO similar check to nodeChildExists? if (found_depth) { assert(current_depth < depth);
This assert seems odd to only have it run if the caller requested found_depth. Should this be moved outside of the "if"?
Add an optional found_depth return by pointer. If the found_depth pointer is set, the depth the search stopped at will be set to what found_depth points to. This way the caller can determine if the search ended at the requested depth if that is important to the caller.
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octomap/include/octomap/OcTreeBaseImpl.hxx line 533 at r2 (raw file):
Previously, bobhenz-jabil (Bob Henz) wrote…
This assert seems odd to only have it run if the caller requested
found_depth. Should this be moved outside of the "if"?
fixed.
This change is