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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_SIMPLEHASHTABLE_INL_H |
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#define COAL_BROADPHASE_SIMPLEHASHTABLE_INL_H |
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#include "coal/broadphase/detail/simple_hash_table.h" |
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#include <iterator> |
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namespace coal { |
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namespace detail { |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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SimpleHashTable<Key, Data, HashFnc>::SimpleHashTable(const HashFnc& h) : h_(h) { |
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// Do nothing |
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} |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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void SimpleHashTable<Key, Data, HashFnc>::init(size_t size) { |
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if (size == 0) { |
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COAL_THROW_PRETTY("SimpleHashTable must have non-zero size.", |
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std::logic_error); |
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} |
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table_.resize(size); |
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table_size_ = size; |
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} |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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void SimpleHashTable<Key, Data, HashFnc>::insert(Key key, Data value) { |
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std::vector<unsigned int> indices = h_(key); |
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size_t range = table_.size(); |
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for (size_t i = 0; i < indices.size(); ++i) |
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table_[indices[i] % range].push_back(value); |
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} |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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std::vector<Data> SimpleHashTable<Key, Data, HashFnc>::query(Key key) const { |
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size_t range = table_.size(); |
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std::vector<unsigned int> indices = h_(key); |
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std::set<Data> result; |
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for (size_t i = 0; i < indices.size(); ++i) { |
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size_t index = indices[i] % range; |
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std::copy(table_[index].begin(), table_[index].end(), |
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std::inserter(result, result.end())); |
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} |
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return std::vector<Data>(result.begin(), result.end()); |
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} |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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void SimpleHashTable<Key, Data, HashFnc>::remove(Key key, Data value) { |
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size_t range = table_.size(); |
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std::vector<unsigned int> indices = h_(key); |
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for (size_t i = 0; i < indices.size(); ++i) { |
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size_t index = indices[i] % range; |
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table_[index].remove(value); |
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} |
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} |
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//============================================================================== |
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template <typename Key, typename Data, typename HashFnc> |
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void SimpleHashTable<Key, Data, HashFnc>::clear() { |
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table_.clear(); |
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table_.resize(table_size_); |
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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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