/**
* Create child
*/
bool srs_env_model::EModelTreeNode::createChild(unsigned int i) {
if (itsChildren == NULL) {
allocChildren();
}
itsChildren[i] = new EModelTreeNode();
return true;
}
bool CountingOcTreeNode::createChild(unsigned int i) {
if (children == NULL) {
allocChildren();
}
assert (children[i] == NULL);
children[i] = new CountingOcTreeNode();
return true;
}
bool OcTreeNodePCL::createChild(unsigned int i)
{
if (itsChildren == NULL)
{
allocChildren();
}
itsChildren[i] = new OcTreeNodePCL();
return true;
}
bool OcTreeNodeJointAngles::createChild(unsigned int i)
{
if (children == NULL)
{
allocChildren();
}
assert (children[i] == NULL);
children[i] = new OcTreeNodeJointAngles();
return true;
}
IgTreeNode(const IgTreeNode& other)
: ::octomap::OcTreeNode(),
occ_dist_(other.occ_dist_),
max_dist_(other.max_dist_),
has_no_measurement_(other.has_no_measurement_) {
value = other.value;
if (other.hasChildren()){
allocChildren();
for (unsigned i = 0; i < 8; ++i){
if (other.getChild(i))
children[i] = new IgTreeNode(*(other.getChild(i)));
}
}
}
pid_t forkLisp(any ex) {
pid_t n;
int i, hear[2], tell[2];
static int mic[2];
flushAll();
if (!Spkr) {
if (pipe(mic) < 0)
pipeError(ex, "open");
closeOnExec(ex, mic[0]), closeOnExec(ex, mic[1]);
Spkr = mic[0];
}
if (pipe(hear) < 0 || pipe(tell) < 0)
pipeError(ex, "open");
closeOnExec(ex, hear[0]), closeOnExec(ex, hear[1]);
closeOnExec(ex, tell[0]), closeOnExec(ex, tell[1]);
for (i = 0; i < Children; ++i)
if (!Child[i].pid)
break;
if ((n = fork()) < 0)
err(ex, NULL, "fork");
if (n == 0) {
void *p;
Slot = i;
Spkr = 0;
Mic = mic[1];
close(hear[1]), close(tell[0]), close(mic[0]);
if (Hear)
close(Hear), closeInFile(Hear), closeOutFile(Hear);
initInFile(Hear = hear[0], NULL);
if (Tell)
close(Tell);
Tell = tell[1];
for (i = 0; i < Children; ++i)
if (Child[i].pid)
close(Child[i].hear), close(Child[i].tell), free(Child[i].buf);
Children = 0, free(Child), Child = NULL;
for (p = Env.inFrames; p; p = ((inFrame*)p)->link)
((inFrame*)p)->pid = 0;
for (p = Env.outFrames; p; p = ((outFrame*)p)->link)
((outFrame*)p)->pid = 0;
for (p = CatchPtr; p; p = ((catchFrame*)p)->link)
((catchFrame*)p)->fin = Zero;
free(Termio), Termio = NULL;
if (Repl)
++Repl;
val(PPid) = val(Pid);
val(Pid) = boxCnt(getpid());
run(val(Fork));
val(Fork) = Nil;
return 0;
}
if (i == Children)
allocChildren();
close(hear[0]), close(tell[1]);
Child[i].pid = n;
Child[i].hear = tell[0];
nonblocking(Child[i].tell = hear[1]);
Child[i].ofs = Child[i].cnt = 0;
Child[i].buf = NULL;
return n;
}
