Changing void* to AbstractOcTreeNode*

octomap/include/octomap/OcTreeBaseImpl.h

@@ -47,6 +47,9 @@
 
 
 namespace octomap {
+
+  // forward declaration for NODE children array
+  class AbstractOcTreeNode;
 
 
   /**

octomap/include/octomap/OcTreeBaseImpl.hxx

@@ -179,7 +179,7 @@ namespace octomap {
     }
     assert (node->children[childIdx] == NULL);
     NODE* newNode = new NODE();
-    node->children[childIdx] = static_cast<void*>(newNode);
+    node->children[childIdx] = static_cast<AbstractOcTreeNode*>(newNode);
     return newNode;
   }
 

octomap/include/octomap/OcTreeDataNode.h

@@ -121,7 +121,8 @@ namespace octomap {
 
     /// pointer to array of children, may be NULL
     /// @note The tree class manages this pointer, the array, and the memory for it!
-    void** children;
+    /// The children of a node are always enforced to be the same type as the node
+    AbstractOcTreeNode** children;
     /// stored data (payload)
     T value;
 

octomap/include/octomap/OcTreeDataNode.hxx

@@ -129,7 +129,7 @@ namespace octomap {
   // ============================================================
   template <typename T>
   void OcTreeDataNode<T>::allocChildren() {
-    children = new void*[8];
+    children = new AbstractOcTreeNode*[8];
     for (unsigned int i=0; i<8; i++) {
       children[i] = NULL;
     }

octomap/valgrind_memcheck.supp

@@ -2,7 +2,7 @@
 # Suppresses the "leaks" by the static member initializer which cannot be avoided. 
 # 
 # You can run valgrind on an OctoMap binary (e.g. a unit test) with:
-# valgrind --tool=memcheck --leak-check=full --suppressions=valgrind_memcheck.supp bin/test_....
+# valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all --suppressions=valgrind_memcheck.supp bin/test_....
 #
 
 {