Set root=NULL in clear(), fixes #123.

Add unit test for clear() in test_pruning.cpp
OctoMap · Jan 13, 2017 · a0915f6 · a0915f6
1 parent dff6556
commit a0915f6
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Showing 3 changed files with 29 additions and 4 deletions.
diff --git a/octomap/include/octomap/OcTreeBaseImpl.h b/octomap/include/octomap/OcTreeBaseImpl.h
@@ -516,7 +516,8 @@ namespace octomap {
     /// recursive call of writeData()
     std::ostream& writeNodesRecurs(const NODE*, std::ostream &s) const;
 
-    /// recursive delete of node and all children (deallocates memory)
+    /// Recursively delete a node and all children. Deallocates memory
+    /// but does NOT set the node ptr to NULL nor updates tree size.
     void deleteNodeRecurs(NODE* node);
 
     /// recursive call of deleteNode()

diff --git a/octomap/include/octomap/OcTreeBaseImpl.hxx b/octomap/include/octomap/OcTreeBaseImpl.hxx
@@ -513,6 +513,7 @@ namespace octomap {
     if (this->root){
       deleteNodeRecurs(root);
       this->tree_size = 0;
+      this->root = NULL;
       // max extent of tree changed:
       this->size_changed = true;
     }
@@ -664,15 +665,15 @@ namespace octomap {
 
     if (node->children != NULL) {
       for (unsigned int i=0; i<8; i++) {
-        if (node->children[i] != NULL)
-          this->deleteNodeRecurs(static_cast<NODE*>(node->children[i])); 
+        if (node->children[i] != NULL){
+          this->deleteNodeRecurs(static_cast<NODE*>(node->children[i]));
+        }
       }
       delete[] node->children;
       node->children = NULL;
     } // else: node has no children
 
     delete node;
-    node = NULL;
   }
 
 

diff --git a/octomap/src/testing/test_pruning.cpp b/octomap/src/testing/test_pruning.cpp
@@ -9,6 +9,10 @@ using namespace octomath;
 int main(int argc, char** argv) {
     float res = 0.01f;
     OcTree tree(res);
+
+    EXPECT_EQ(tree.size(), 0);
+    tree.prune();
+    EXPECT_EQ(tree.size(), 0);
 
     point3d singlePt(-0.05f, -0.02f, 1.0f);
     OcTreeKey singleKey;
@@ -233,6 +237,25 @@ int main(int argc, char** argv) {
 
 
     }
+
+    tree.write("pruning_test_out.ot");
+
+    {
+      std::cout << "\nClearing tree / recursive delete\n===============================\n";
+
+      OcTree emptyTree(0.1234);
+      EXPECT_EQ(emptyTree.size(), 0);
+      emptyTree.clear();
+      EXPECT_EQ(emptyTree.size(), emptyTree.calcNumNodes());
+      EXPECT_EQ(emptyTree.size(), 0);
+
+      tree.clear();
+      EXPECT_EQ(tree.size(), 0);
+      EXPECT_EQ(tree.size(), tree.calcNumNodes());
+
+      tree.prune();
+      EXPECT_EQ(tree.size(), 0);      
+    }
 
     tree.write("pruning_test_out.ot");
     std::cerr << "Test successful.\n";