// Bi-directional
// ++
// preincrement
_MyIter& operator++()
{
// The iterator should be incremented and then returned
// increment mCurrentLocation
updatePtr(mCurrentPosition +1);
return (*this);
}
PointCloudT::Ptr Grabber::getCloud(std::vector<int> &indices)
{
updatePtr(cloudPtr);
while(cloudPtr == 0)
{
updatePtr(cloudPtr);
}
mut.lock();
PointCloudT::Ptr cloudDataFront(new PointCloudT());
//*cloudDataFront = *cloudPtr;
//std::vector<int> indices;
pcl::removeNaNFromPointCloud(*cloudPtr, *cloudDataFront, indices);
//for (int it = 0; it < indices.size();it++)
//std::cout << indices.at(it) << " it: " << it <<std::endl;
//std::cout << cloudDataFront->size() << std::endl;
pcl::VoxelGrid<PointT> sor;
/*sor.setInputCloud (cloudDataFront);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloudDataFront);*/
mut.unlock();
return cloudDataFront;
}
static CSSM_RETURN hashDataRateCryptKit(
TestParams *params)
{
ckUpdateFcn updatePtr = NULL;
ckFinalFcn finalPtr = NULL;
ckInitFcn initPtr = NULL;
struct MD5Context md5;
sha1Obj sha;
void *ctx;
unsigned loop;
unsigned iloop;
double startTime, endTime;
double timeSpent, timeSpentMs;
uint8 ptext[PTEXT_SIZE];
uint8 digest[MAX_DIGEST_SIZE];
unsigned digestLen = 16;
/* we reuse this one inside the loop */
switch(params->algId) {
case CSSM_ALGID_SHA1:
sha = sha1Alloc();
ctx = sha;
initPtr = (ckInitFcn)sha1Reinit;
updatePtr = (ckUpdateFcn)sha1AddData;
finalPtr = (ckFinalFcn)ckSha1Final;
digestLen = 20;
break;
case CSSM_ALGID_MD5:
ctx = &md5;
initPtr = (ckInitFcn)MD5Init;
updatePtr = (ckUpdateFcn)MD5Update;
finalPtr = (ckFinalFcn)MD5Final;
break;
default:
printf("***Sorry, CryptKit can only do SHA1 and MD5.\n");
return 1;
}
/* random data, const thru the loops */
initPtext(ptext, PTEXT_SIZE);
/* start critical timing loop */
startTime = CFAbsoluteTimeGetCurrent();
for(loop=0; loop<params->loops; loop++) {
initPtr(ctx);
for(iloop=0; iloop<INNER_LOOPS; iloop++) {
updatePtr(ctx, ptext, PTEXT_SIZE);
}
finalPtr(ctx, digest);
}
endTime = CFAbsoluteTimeGetCurrent();
timeSpent = endTime - startTime;
timeSpentMs = timeSpent * 1000.0;
float bytesPerLoop = INNER_LOOPS * PTEXT_SIZE;
float totalBytes = params->loops * bytesPerLoop;
/* careful, KByte = 1024, ms = 1/1000 */
printf(" Digest %.0f bytes : %u ops in %.2f ms; %f ms/op, %.0f KBytes/s\n",
bytesPerLoop, params->loops,
timeSpentMs, timeSpentMs / (double)params->loops,
((float)totalBytes / 1024.0) / timeSpent);
if(params->dumpDigest) {
dumpDigest(digest, digestLen);
}
return CSSM_OK;
}
static CSSM_RETURN hashDataRateCommonCrypto(
TestParams *params)
{
CC_CTX ctx;
ccUpdateFcn updatePtr = NULL;
ccFinalFcn finalPtr = NULL;
ccInitFcn initPtr = NULL;
unsigned loop;
unsigned iloop;
double startTime, endTime;
double timeSpent, timeSpentMs;
uint8 ptext[PTEXT_SIZE];
uint8 digest[MAX_DIGEST_SIZE];
unsigned digestLen = 16;
/* we reuse this one inside the loop */
switch(params->algId) {
case CSSM_ALGID_SHA1:
initPtr = (ccInitFcn)CC_SHA1_Init;
updatePtr = (ccUpdateFcn)CC_SHA1_Update;
finalPtr = (ccFinalFcn)CC_SHA1_Final;
digestLen = 20;
break;
case CSSM_ALGID_SHA224:
initPtr = (ccInitFcn)CC_SHA224_Init;
updatePtr = (ccUpdateFcn)CC_SHA224_Update;
finalPtr = (ccFinalFcn)CC_SHA224_Final;
digestLen = 28;
break;
case CSSM_ALGID_SHA256:
initPtr = (ccInitFcn)CC_SHA256_Init;
updatePtr = (ccUpdateFcn)CC_SHA256_Update;
finalPtr = (ccFinalFcn)CC_SHA256_Final;
digestLen = 32;
break;
case CSSM_ALGID_SHA384:
initPtr = (ccInitFcn)CC_SHA384_Init;
updatePtr = (ccUpdateFcn)CC_SHA384_Update;
finalPtr = (ccFinalFcn)CC_SHA384_Final;
digestLen = 48;
break;
case CSSM_ALGID_SHA512:
initPtr = (ccInitFcn)CC_SHA512_Init;
updatePtr = (ccUpdateFcn)CC_SHA512_Update;
finalPtr = (ccFinalFcn)CC_SHA512_Final;
digestLen = 64;
break;
case CSSM_ALGID_MD5:
initPtr = (ccInitFcn)CC_MD5_Init;
updatePtr = (ccUpdateFcn)CC_MD5_Update;
finalPtr = (ccFinalFcn)CC_MD5_Final;
digestLen = 16;
break;
default:
printf("***BRRRZAP!\n");
return 1;
}
/* random data, const thru the loops */
initPtext(ptext, PTEXT_SIZE);
/* start critical timing loop */
startTime = CFAbsoluteTimeGetCurrent();
for(loop=0; loop<params->loops; loop++) {
initPtr(&ctx);
for(iloop=0; iloop<INNER_LOOPS; iloop++) {
updatePtr(&ctx, ptext, PTEXT_SIZE);
}
finalPtr(digest, &ctx);
}
endTime = CFAbsoluteTimeGetCurrent();
timeSpent = endTime - startTime;
timeSpentMs = timeSpent * 1000.0;
float bytesPerLoop = INNER_LOOPS * PTEXT_SIZE;
float totalBytes = params->loops * bytesPerLoop;
/* careful, KByte = 1024, ms = 1/1000 */
printf(" Digest %.0f bytes : %u ops in %.2f ms; %f ms/op, %.0f KBytes/s\n",
bytesPerLoop, params->loops,
timeSpentMs, timeSpentMs / (double)params->loops,
((float)totalBytes / 1024.0) / timeSpent);
if(params->dumpDigest) {
dumpDigest(digest, digestLen);
}
return CSSM_OK;
}
// --
// predecrement
_MyIter& operator--()
{
updatePtr(mCurrentPosition - 1);
return (*this);
}
// APLIterator(APList<T*>* d_apl) : mList(d_apl), currentPosition(0), mCurrentElem(0) { } // not a valid constructor
APLIterator(APList<T>* d_apl, int d_position) : mList(d_apl), mCurrentElem(0)
{
updatePtr(d_position);
}
// -=
_MyIter& operator-=(difference_type offset)
{
updatePtr(mCurrentPosition - offset);
return (*this);
}
