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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2016, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Jia Pan */ |
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#ifndef COAL_BROADPHASE_DETAIL_INTERVALTREENODE_INL_H |
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#define COAL_BROADPHASE_DETAIL_INTERVALTREENODE_INL_H |
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#include "coal/broadphase/detail/interval_tree_node.h" |
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#include <iostream> |
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#include <algorithm> |
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namespace coal { |
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namespace detail { |
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//============================================================================== |
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IntervalTreeNode::IntervalTreeNode() { |
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// Do nothing |
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} |
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//============================================================================== |
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IntervalTreeNode::IntervalTreeNode(SimpleInterval* new_interval) |
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: stored_interval(new_interval), |
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key(new_interval->low), |
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high(new_interval->high), |
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max_high(high) { |
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// Do nothing |
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} |
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//============================================================================== |
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IntervalTreeNode::~IntervalTreeNode() { |
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// Do nothing |
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} |
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//============================================================================== |
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void IntervalTreeNode::print(IntervalTreeNode* invalid_node, |
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IntervalTreeNode* root) const { |
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stored_interval->print(); |
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std::cout << ", k = " << key << ", h = " << high << ", mH = " << max_high; |
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std::cout << " l->key = "; |
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if (left == invalid_node) |
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std::cout << "nullptr"; |
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else |
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std::cout << left->key; |
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std::cout << " r->key = "; |
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if (right == invalid_node) |
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std::cout << "nullptr"; |
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else |
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std::cout << right->key; |
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std::cout << " p->key = "; |
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if (parent == root) |
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std::cout << "nullptr"; |
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else |
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std::cout << parent->key; |
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std::cout << " red = " << (int)red << std::endl; |
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} |
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} // namespace detail |
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} // namespace coal |
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#endif |
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