{"id":56692,"date":"2025-08-14T22:05:21","date_gmt":"2025-08-14T14:05:21","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/56692.html"},"modified":"2025-08-14T22:05:21","modified_gmt":"2025-08-14T14:05:21","slug":"boost%e5%ba%93%e4%b8%adpool-%e5%9f%ba%e7%a1%80%e5%86%85%e5%ad%98%e6%b1%a0%ef%bc%88boostpool%ef%bc%9c%ef%bc%9e%ef%bc%89%e7%9a%84%e8%af%a6%e7%bb%86%e7%94%a8%e6%b3%95%e8%a7%a3%e6%9e%90%e5%92%8c","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/56692.html","title":{"rendered":"Boost\u5e93\u4e2dPool \u57fa\u7840\u5185\u5b58\u6c60\uff08boost::pool\uff1c\uff1e\uff09\u7684\u8be6\u7ec6\u7528\u6cd5\u89e3\u6790\u548c\u5b9e\u6218\u5e94\u7528"},"content":{"rendered":"<h3>1. boost::pool&lt;&gt; \u662f\u4ec0\u4e48<\/h3>\n<p>boost::pool&lt;&gt; \u662f Boost.Pool \u5e93\u4e2d\u6700\u57fa\u7840\u7684\u5185\u5b58\u6c60\u7c7b&#xff0c;\u7528\u4e8e\u7ba1\u7406\u56fa\u5b9a\u5927\u5c0f\u7684\u5185\u5b58\u5757&#xff08;block&#xff09;\u3002<br \/>\n\u5b83\u4e0d\u8d1f\u8d23\u8c03\u7528\u6784\u9020\/\u6790\u6784\u51fd\u6570&#xff08;\u5373\u53ea\u5206\u914d\u88f8\u5185\u5b58&#xff09;&#xff0c;\u975e\u5e38\u9002\u5408\u5b58\u50a8 POD \u7c7b\u578b\u6216\u4f60\u81ea\u5df1\u624b\u52a8\u6784\u9020\/\u6790\u6784\u7684\u5bf9\u8c61\u3002<\/p>\n<p>\u6838\u5fc3\u601d\u60f3&#xff1a;<\/p>\n<ul>\n<li>\u4e00\u6b21\u5411\u7cfb\u7edf\u7533\u8bf7\u4e00\u5927\u5757\u5185\u5b58&#xff08;\u79f0\u4e3a chunk&#xff09;&#xff0c;\u518d\u5207\u6210\u56fa\u5b9a\u5927\u5c0f\u7684 block\u3002<\/li>\n<li>\u901a\u8fc7\u94fe\u8868\u7ba1\u7406\u7a7a\u95f2 block&#xff0c;\u5206\u914d\u91ca\u653e\u90fd\u5728 O(1) \u65f6\u95f4\u5b8c\u6210\u3002<\/li>\n<li>\u907f\u514d\u9891\u7e41\u8c03\u7528 malloc\/free&#xff0c;\u51cf\u5c11\u788e\u7247\u5316\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>2. \u6784\u9020\u65b9\u5f0f<\/h3>\n<p>boost<span class=\"token double-colon punctuation\">::<\/span>pool<span class=\"token operator\">&lt;<\/span>UserAllocator<span class=\"token operator\">&gt;<\/span> <span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span>size_type requested_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<ul>\n<li>\n<p>\u6a21\u677f\u53c2\u6570<\/p>\n<ul>\n<li>UserAllocator&#xff1a;\u7528\u6237\u81ea\u5b9a\u4e49\u7684\u5206\u914d\u5668\u7c7b\u578b&#xff0c;\u9ed8\u8ba4\u4e3a boost::default_user_allocator_new_delete&#xff08;\u4f7f\u7528 new\/delete \u7533\u8bf7 chunk&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6784\u9020\u53c2\u6570<\/p>\n<ul>\n<li>requested_size&#xff1a;\u6bcf\u4e2a block \u7684\u5b57\u8282\u6570&#xff08;\u5fc5\u987b &gt;&#061; 1&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>\u793a\u4f8b&#xff1a;<\/p>\n<p>boost<span class=\"token double-colon punctuation\">::<\/span>pool<span class=\"token operator\">&lt;<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">32<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6bcf\u4e2a block 32 \u5b57\u8282<\/span><\/p>\n<hr \/>\n<h3>3. \u5e38\u7528 API<\/h3>\n<table>\n<tr>\u65b9\u6cd5\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>void* malloc()<\/td>\n<td>\u5206\u914d\u4e00\u4e2a block&#xff08;\u4e0d\u8c03\u7528\u6784\u9020\u51fd\u6570&#xff09;\u3002<\/td>\n<\/tr>\n<tr>\n<td>void* ordered_malloc(size_type n)<\/td>\n<td>\u5206\u914d n \u4e2a\u8fde\u7eed block&#xff08;\u6309\u5730\u5740\u987a\u5e8f&#xff09;\u3002<\/td>\n<\/tr>\n<tr>\n<td>void free(void* p)<\/td>\n<td>\u91ca\u653e\u4e00\u4e2a block\u3002<\/td>\n<\/tr>\n<tr>\n<td>void ordered_free(void* p, size_type n)<\/td>\n<td>\u91ca\u653e n \u4e2a\u8fde\u7eed block\u3002<\/td>\n<\/tr>\n<tr>\n<td>bool purge_memory()<\/td>\n<td>\u91ca\u653e\u6240\u6709\u7a7a\u95f2 block \u5360\u7528\u7684 chunk \u5185\u5b58&#xff08;\u5df2\u5206\u914d\u51fa\u53bb\u7684\u5757\u4e0d\u4f1a\u91ca\u653e&#xff09;\u3002<\/td>\n<\/tr>\n<tr>\n<td>bool is_from(void* p) const<\/td>\n<td>\u68c0\u67e5\u6307\u9488\u662f\u5426\u5c5e\u4e8e\u5f53\u524d\u6c60\u3002<\/td>\n<\/tr>\n<tr>\n<td>bool release_memory()<\/td>\n<td>\u91ca\u653e\u6240\u6709 chunk&#xff0c;\u5305\u62ec\u5df2\u5206\u914d\u51fa\u53bb\u7684\u5757&#xff08;\u5371\u9669\u64cd\u4f5c&#xff09;\u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>4. \u57fa\u672c\u793a\u4f8b<\/h3>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;boost\/pool\/pool.hpp&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;iostream&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;cstring&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u521b\u5efa\u4e00\u4e2a\u6bcf\u5757 32 \u5b57\u8282\u7684\u5185\u5b58\u6c60<\/span><br \/>\n    boost<span class=\"token double-colon punctuation\">::<\/span>pool<span class=\"token operator\">&lt;<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">32<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5206\u914d\u4e00\u4e2a block<\/span><br \/>\n    <span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span> ptr1 <span class=\"token operator\">&#061;<\/span> p<span class=\"token punctuation\">.<\/span><span class=\"token function\">malloc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>ptr1<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        std<span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">memset<\/span><span class=\"token punctuation\">(<\/span>ptr1<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">32<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u76f4\u63a5\u5199\u5165\u6570\u636e<\/span><br \/>\n        std<span class=\"token double-colon punctuation\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;Allocated 1 block at: &#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> ptr1 <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token double-colon punctuation\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5206\u914d\u591a\u4e2a\u8fde\u7eed block<\/span><br \/>\n    <span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span> ptr2 <span class=\"token operator\">&#061;<\/span> p<span class=\"token punctuation\">.<\/span><span class=\"token function\">ordered_malloc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5206\u914d4\u4e2a\u8fde\u7eedblock<\/span><br \/>\n    std<span class=\"token double-colon punctuation\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;Allocated 4 blocks at: &#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> ptr2 <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token double-colon punctuation\">::<\/span>endl<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91ca\u653e\u5355\u4e2a block<\/span><br \/>\n    p<span class=\"token punctuation\">.<\/span><span class=\"token function\">free<\/span><span class=\"token punctuation\">(<\/span>ptr1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91ca\u653e\u8fde\u7eed block<\/span><br \/>\n    p<span class=\"token punctuation\">.<\/span><span class=\"token function\">ordered_free<\/span><span class=\"token punctuation\">(<\/span>ptr2<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u56de\u6536\u7a7a\u95f2\u5185\u5b58&#xff08;\u53ea\u56de\u6536\u672a\u4f7f\u7528\u7684 chunk&#xff09;<\/span><br \/>\n    p<span class=\"token punctuation\">.<\/span><span class=\"token function\">purge_memory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd0\u884c\u7ed3\u679c&#xff08;\u793a\u4f8b&#xff09;&#xff1a;<\/p>\n<p>Allocated 1 block at: 0x55c2f5e6aeb0<br \/>\nAllocated 4 blocks at: 0x55c2f5e6aed0<\/p>\n<hr \/>\n<h3>5. \u5185\u90e8\u673a\u5236&#xff08;\u5206\u914d\u8fc7\u7a0b&#xff09;<\/h3>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<ul>\n<li>\u6bcf\u4e2a block \u5927\u5c0f &#061; 32B<\/li>\n<li>\u4e00\u4e2a chunk &#061; N \u4e2a block&#xff08;\u9ed8\u8ba4 32 \u4e2a&#xff0c;\u53ef\u6539 boost::details::pool::default_next_size&#xff09;<\/li>\n<\/ul>\n<p>\u5206\u914d\u6b65\u9aa4&#xff1a;<\/p>\n<li>\u4ece\u7a7a\u95f2\u94fe\u8868\u53d6\u4e00\u4e2a block\u3002<\/li>\n<li>\u5982\u679c\u94fe\u8868\u4e3a\u7a7a \u2192 \u7533\u8bf7\u65b0 chunk&#xff08;malloc\/new \u4e00\u6b21\u6027\u7533\u8bf7 chunk_size * block_size \u5b57\u8282&#xff09;\u3002<\/li>\n<li>\u5c06\u65b0 chunk \u6309 32B \u5207\u7247&#xff0c;\u6302\u5230\u7a7a\u95f2\u94fe\u8868\u3002<\/li>\n<li>\u8fd4\u56de\u4e00\u4e2a block\u3002<\/li>\n<p>\u91ca\u653e\u6b65\u9aa4&#xff1a;<\/p>\n<li>\u628a block \u6302\u56de\u7a7a\u95f2\u94fe\u8868&#xff08;O(1)&#xff09;\u3002<\/li>\n<li>\u5982\u679c\u8c03\u7528 purge_memory() \u6216 release_memory()&#xff0c;\u4f1a\u628a\u7a7a\u95f2 chunk \u91ca\u653e\u56de\u7cfb\u7edf\u3002<\/li>\n<hr \/>\n<h3>6. \u6ce8\u610f\u4e8b\u9879<\/h3>\n<li>\n<p>\u6ca1\u6709\u6784\u9020\/\u6790\u6784<\/p>\n<ul>\n<li>\u9002\u5408 POD \u7c7b\u578b\u6216\u81ea\u884c\u8c03\u7528 placement new \u6784\u9020\u5bf9\u8c61\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u56fa\u5b9a\u5927\u5c0f<\/p>\n<ul>\n<li>\u6bcf\u4e2a pool \u53ea\u80fd\u5206\u914d\u540c\u6837\u5927\u5c0f\u7684\u5757&#xff0c;\u4e0d\u9002\u5408\u52a8\u6001\u5927\u5c0f\u5bf9\u8c61\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7ebf\u7a0b\u5b89\u5168<\/p>\n<ul>\n<li>\u9ed8\u8ba4 \u975e\u7ebf\u7a0b\u5b89\u5168&#xff0c;\u591a\u7ebf\u7a0b\u9700\u8981\u5916\u90e8\u52a0\u9501\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u91ca\u653e\u5339\u914d<\/p>\n<ul>\n<li>malloc \u2194 free<\/li>\n<li>ordered_malloc(n) \u2194 ordered_free(ptr, n)<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8de8\u6c60\u91ca\u653e<\/p>\n<ul>\n<li>free \u7684\u6307\u9488\u5fc5\u987b\u6765\u81ea\u540c\u4e00\u4e2a pool&#xff0c;\u5426\u5219\u672a\u5b9a\u4e49\u884c\u4e3a\u3002<\/li>\n<\/ul>\n<\/li>\n<hr \/>\n<h3>7. \u624b\u52a8\u6784\u9020\u5bf9\u8c61\u7684\u7528\u6cd5<\/h3>\n<p>\u5982\u679c\u4f60\u60f3\u5728 boost::pool&lt;&gt; \u4e0a\u6784\u9020 C&#043;&#043; \u5bf9\u8c61&#xff0c;\u9700\u8981 placement new&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;boost\/pool\/pool.hpp&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;iostream&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">Node<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">int<\/span> x<span class=\"token punctuation\">,<\/span> y<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Node<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> a<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span> b<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">:<\/span> <span class=\"token function\">x<\/span><span class=\"token punctuation\">(<\/span>a<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">y<\/span><span class=\"token punctuation\">(<\/span>b<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        std<span class=\"token double-colon punctuation\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;Node(&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> x <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;,&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> y <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;) constructed\\\\n&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token operator\">~<\/span><span class=\"token function\">Node<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        std<span class=\"token double-colon punctuation\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;Node(&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> x <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;,&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> y <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;) destroyed\\\\n&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    boost<span class=\"token double-colon punctuation\">::<\/span>pool<span class=\"token operator\">&lt;<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>Node<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5206\u914d\u88f8\u5185\u5b58\u5e76\u6784\u9020\u5bf9\u8c61<\/span><br \/>\n    <span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span> mem <span class=\"token operator\">&#061;<\/span> p<span class=\"token punctuation\">.<\/span><span class=\"token function\">malloc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    Node<span class=\"token operator\">*<\/span> n <span class=\"token operator\">&#061;<\/span> <span class=\"token keyword\">new<\/span> <span class=\"token punctuation\">(<\/span>mem<span class=\"token punctuation\">)<\/span> <span class=\"token function\">Node<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u4f7f\u7528\u5bf9\u8c61<\/span><br \/>\n    std<span class=\"token double-colon punctuation\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;n: &#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> n<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;, &#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> n<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token double-colon punctuation\">::<\/span>endl<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u624b\u52a8\u6790\u6784<\/span><br \/>\n    n<span class=\"token operator\">-&gt;<\/span><span class=\"token operator\">~<\/span><span class=\"token function\">Node<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91ca\u653e\u5185\u5b58\u5757<\/span><br \/>\n    p<span class=\"token punctuation\">.<\/span><span class=\"token function\">free<\/span><span class=\"token punctuation\">(<\/span>mem<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<hr \/>\n<h3>8. \u9002\u7528\u573a\u666f<\/h3>\n<ul>\n<li>\u9ad8\u9891\u7387\u5206\u914d\/\u91ca\u653e\u7684\u5c0f\u5bf9\u8c61&#xff08;\u4f8b\u5982 SLAM \u7cfb\u7edf\u4e2d\u7684\u7279\u5f81\u70b9\u3001\u5730\u56fe\u8282\u70b9\u3001\u4efb\u52a1\u961f\u5217\u8282\u70b9&#xff09;\u3002<\/li>\n<li>\u7f13\u5b58\u6c60&#xff08;\u8fde\u63a5\u6c60\u3001\u5185\u5b58\u7f13\u51b2\u533a&#xff09;\u3002<\/li>\n<li>\u66ff\u6362\u9891\u7e41\u7684 malloc\/free \u4ee5\u51cf\u5c11\u788e\u7247\u5316\u548c\u9501\u7ade\u4e89\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>9.\u5b9e\u9645\u573a\u666f\u5e94\u7528<\/h3>\n<hr \/>\n<h3>1. \u80cc\u666f\u4e0e\u95ee\u9898<\/h3>\n<p>\u5728 SLAM \u70b9\u4e91\u540e\u7aef&#xff08;\u4f8b\u5982 ICP \/ BA \u4f18\u5316&#xff09;\u4e2d&#xff0c;\u7279\u5f81\u8282\u70b9&#xff08;feature nodes&#xff09;\u4f1a\u9891\u7e41\u6279\u91cf\u521b\u5efa\u548c\u9500\u6bc1&#xff1a;<\/p>\n<ul>\n<li>\u5730\u56fe\u7ef4\u62a4\u8fc7\u7a0b\u4e2d&#xff0c;\u63d2\u5165\u65b0\u7279\u5f81\u3001\u5220\u9664\u8fc7\u671f\u7279\u5f81\u3002<\/li>\n<li>\u56de\u73af\u68c0\u6d4b\u3001\u5173\u952e\u5e27\u878d\u5408\u65f6&#xff0c;\u7279\u5f81\u70b9\u4f1a\u88ab\u91cd\u65b0\u5206\u914d\u3002<\/li>\n<\/ul>\n<p>\u5982\u679c\u76f4\u63a5\u7528 new\/delete&#xff1a;<\/p>\n<ul>\n<li>\u6bcf\u4e2a\u8282\u70b9\u4e00\u6b21\u7cfb\u7edf\u5206\u914d&#xff0c;\u9891\u7e41 malloc\/free \u2192 \u7cfb\u7edf\u8c03\u7528\u5f00\u9500\u5927\u3002<\/li>\n<li>\u5185\u5b58\u788e\u7247\u5316\u4e25\u91cd&#xff08;\u5206\u914d\u5927\u5c0f\u4e0d\u540c\u3001\u751f\u547d\u5468\u671f\u4e0d\u4e00\u81f4&#xff09;\u3002<\/li>\n<li>\u591a\u7ebf\u7a0b\u8bbf\u95ee\u65f6\u53ef\u80fd\u89e6\u53d1\u9501\u7ade\u4e89&#xff08;\u5c24\u5176\u662f glibc malloc&#xff09;\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>2. \u6539\u9020\u601d\u8def<\/h3>\n<p>\u7528 boost::pool&lt;&gt;&#xff1a;<\/p>\n<ul>\n<li>\u56fa\u5b9a\u5927\u5c0f\u5757 \u2192 \u6240\u6709\u7279\u5f81\u8282\u70b9\u5927\u5c0f\u4e00\u81f4&#xff08;\u4fbf\u4e8e\u6c60\u7ba1\u7406&#xff09;\u3002<\/li>\n<li>\u5206\u914d\u91ca\u653e O(1) \u2192 \u7a7a\u95f2\u94fe\u8868\u76f4\u63a5\u53d6\u3002<\/li>\n<li>\u53ef\u6279\u91cf\u91ca\u653e \u2192 \u7528 purge_memory() \u56de\u6536\u6240\u6709\u7a7a\u95f2\u5185\u5b58\u3002<\/li>\n<li>\u5bf9\u8c61\u6784\u9020 \u2192 \u7528 placement new \u6784\u9020\u8282\u70b9\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>3. \u5b8c\u6574\u793a\u4f8b\u4ee3\u7801<\/h3>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;boost\/pool\/pool.hpp&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;iostream&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;vector&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;cmath&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ &#061;&#061;&#061;&#061;&#061;&#061; \u7279\u5f81\u8282\u70b9\u5b9a\u4e49 &#061;&#061;&#061;&#061;&#061;&#061;<\/span><br \/>\n<span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">FeatureNode<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> x<span class=\"token punctuation\">,<\/span> y<span class=\"token punctuation\">,<\/span> z<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u7a7a\u95f4\u5750\u6807<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> nx<span class=\"token punctuation\">,<\/span> ny<span class=\"token punctuation\">,<\/span> nz<span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u6cd5\u5411\u91cf<\/span><br \/>\n    <span class=\"token keyword\">int<\/span>   frame_id<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u6240\u5c5e\u5e27ID<\/span><\/p>\n<p>    <span class=\"token function\">FeatureNode<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> _x<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> _y<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> _z<span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token keyword\">float<\/span> _nx<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> _ny<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> _nz<span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token keyword\">int<\/span> _fid<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token operator\">:<\/span> <span class=\"token function\">x<\/span><span class=\"token punctuation\">(<\/span>_x<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">y<\/span><span class=\"token punctuation\">(<\/span>_y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">z<\/span><span class=\"token punctuation\">(<\/span>_z<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">nx<\/span><span class=\"token punctuation\">(<\/span>_nx<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">ny<\/span><span class=\"token punctuation\">(<\/span>_ny<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">nz<\/span><span class=\"token punctuation\">(<\/span>_nz<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">frame_id<\/span><span class=\"token punctuation\">(<\/span>_fid<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u653e\u6784\u9020\u8c03\u8bd5\u4fe1\u606f<\/span><br \/>\n        <span class=\"token comment\">\/\/ std::cout &lt;&lt; &#034;FeatureNode constructed\\\\n&#034;;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token operator\">~<\/span><span class=\"token function\">FeatureNode<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ std::cout &lt;&lt; &#034;FeatureNode destroyed\\\\n&#034;;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ &#061;&#061;&#061;&#061;&#061;&#061; \u5185\u5b58\u6c60\u7ba1\u7406\u5668 &#061;&#061;&#061;&#061;&#061;&#061;<\/span><br \/>\n<span class=\"token keyword\">class<\/span> <span class=\"token class-name\">FeatureNodePool<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">public<\/span><span class=\"token operator\">:<\/span><br \/>\n    <span class=\"token function\">FeatureNodePool<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token operator\">:<\/span> <span class=\"token function\">pool_<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>FeatureNode<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u8282\u70b9&#xff08;placement new&#xff09;<\/span><br \/>\n    FeatureNode<span class=\"token operator\">*<\/span> <span class=\"token function\">create<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> x<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> y<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> z<span class=\"token punctuation\">,<\/span><br \/>\n                        <span class=\"token keyword\">float<\/span> nx<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> ny<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> nz<span class=\"token punctuation\">,<\/span><br \/>\n                        <span class=\"token keyword\">int<\/span> fid<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span> mem <span class=\"token operator\">&#061;<\/span> pool_<span class=\"token punctuation\">.<\/span><span class=\"token function\">malloc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>mem<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">throw<\/span> std<span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">bad_alloc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> <span class=\"token keyword\">new<\/span> <span class=\"token punctuation\">(<\/span>mem<span class=\"token punctuation\">)<\/span> <span class=\"token function\">FeatureNode<\/span><span class=\"token punctuation\">(<\/span>x<span class=\"token punctuation\">,<\/span> y<span class=\"token punctuation\">,<\/span> z<span class=\"token punctuation\">,<\/span> nx<span class=\"token punctuation\">,<\/span> ny<span class=\"token punctuation\">,<\/span> nz<span class=\"token punctuation\">,<\/span> fid<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u9500\u6bc1\u8282\u70b9<\/span><br \/>\n    <span class=\"token keyword\">void<\/span> <span class=\"token function\">destroy<\/span><span class=\"token punctuation\">(<\/span>FeatureNode<span class=\"token operator\">*<\/span> node<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>node<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        node<span class=\"token operator\">-&gt;<\/span><span class=\"token operator\">~<\/span><span class=\"token function\">FeatureNode<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u8c03\u7528\u6790\u6784<\/span><br \/>\n        pool_<span class=\"token punctuation\">.<\/span><span class=\"token function\">free<\/span><span class=\"token punctuation\">(<\/span>node<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u91ca\u653e\u5185\u5b58\u5757<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u56de\u6536\u6240\u6709\u7a7a\u95f2\u5757\u5360\u7528\u7684\u5185\u5b58<\/span><br \/>\n    <span class=\"token keyword\">void<\/span> <span class=\"token function\">purge<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        pool_<span class=\"token punctuation\">.<\/span><span class=\"token function\">purge_memory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">private<\/span><span class=\"token operator\">:<\/span><br \/>\n    boost<span class=\"token double-colon punctuation\">::<\/span>pool<span class=\"token operator\">&lt;<\/span><span class=\"token operator\">&gt;<\/span> pool_<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ &#061;&#061;&#061;&#061;&#061;&#061; \u6d4b\u8bd5 &#061;&#061;&#061;&#061;&#061;&#061;<\/span><br \/>\n<span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    FeatureNodePool featurePool<span class=\"token punctuation\">;<\/span><\/p>\n<p>    std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>FeatureNode<span class=\"token operator\">*<\/span><span class=\"token operator\">&gt;<\/span> features<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6a21\u62df\u540e\u7aef\u6279\u91cf\u63d2\u5165\u7279\u5f81\u70b9<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">100000<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token operator\">&#043;&#043;<\/span>i<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">float<\/span> angle <span class=\"token operator\">&#061;<\/span> i <span class=\"token operator\">*<\/span> <span class=\"token number\">0.001f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        FeatureNode<span class=\"token operator\">*<\/span> f <span class=\"token operator\">&#061;<\/span> featurePool<span class=\"token punctuation\">.<\/span><span class=\"token function\">create<\/span><span class=\"token punctuation\">(<\/span><br \/>\n            std<span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> std<span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> angle <span class=\"token operator\">*<\/span> <span class=\"token number\">0.01f<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0f<\/span><span class=\"token punctuation\">,<\/span> i <span class=\"token operator\">\/<\/span> <span class=\"token number\">1000<\/span><br \/>\n        <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        features<span class=\"token punctuation\">.<\/span><span class=\"token function\">push_back<\/span><span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6a21\u62df\u5220\u9664\u4e00\u534a\u7279\u5f81\u70b9<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span>size_t i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> features<span class=\"token punctuation\">.<\/span><span class=\"token function\">size<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        featurePool<span class=\"token punctuation\">.<\/span><span class=\"token function\">destroy<\/span><span class=\"token punctuation\">(<\/span>features<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        features<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token keyword\">nullptr<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6279\u91cf\u56de\u6536\u7a7a\u95f2\u5185\u5b58&#xff08;\u51cf\u5c11\u7cfb\u7edf\u5185\u5b58\u5360\u7528&#xff09;<\/span><br \/>\n    featurePool<span class=\"token punctuation\">.<\/span><span class=\"token function\">purge<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5269\u4f59\u7684\u7279\u5f81\u8282\u70b9\u4ecd\u53ef\u7528<\/span><br \/>\n    size_t aliveCount <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span><span class=\"token operator\">*<\/span> f <span class=\"token operator\">:<\/span> features<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">)<\/span> aliveCount<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    std<span class=\"token double-colon punctuation\">::<\/span>cout 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