Memory and Geometry Extensions

Extensions for the memory and geometry module.

New Features

• [memory]:
  • Added PoolAllocator class
    • Generic pool-allocator for user-defined classes - also supports Eigen alignment
  • Added ImplicitDaryHeap class
    • Generalization of a binary heap for arbitrary branching factors d>1 (d-ary heap)
    • Internally uses pool-allocator
    • Optimized for maximum performance when used in Dijkstra algorithm
    • Supports various optimized helper methods (finding/updating elements, pre-allocation, etc.)
  • Added DefaultInitializationAllocator adaptor
    • Adaptor for allocators to replace value-initialization with default-initialization
  • MultiVector
    • Added reserve method to allow memory allocation for the underlying std::vector
    • Added resize(std::array<size_t, N>, T) method to allow resizing with copy-construction for elements
• [geometry]
  • Added Triangle2D and Triangle3D classes
    • Generic abstraction of a triangle in the two- and three-dimensional space
    • Contains various pre-computed auxillary parameters for accelerated distance and intersection tests
    • Provides explicit methods for point-triangle distance and (ray-)intersection tests
  • Improvements for SSVDistanceEvaluator
    • Improved point-triangle test (matching implementation of TriangleND) for speedup

Non-breaking Changes

• [io]:
  • PNMFileData now uses DefaultInitializationAllocator for its raster representations (keeps data uninitialized on resize() which increases performance in some use cases - e.g. for deserialization of the raster)