| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2016, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** @author Jia Pan */ | ||
| 37 | |||
| 38 | #ifndef COAL_BROADPHASE_SIMPLEHASHTABLE_INL_H | ||
| 39 | #define COAL_BROADPHASE_SIMPLEHASHTABLE_INL_H | ||
| 40 | |||
| 41 | #include "coal/broadphase/detail/simple_hash_table.h" | ||
| 42 | |||
| 43 | #include <iterator> | ||
| 44 | namespace coal { | ||
| 45 | |||
| 46 | namespace detail { | ||
| 47 | |||
| 48 | //============================================================================== | ||
| 49 | template <typename Key, typename Data, typename HashFnc> | ||
| 50 | ✗ | SimpleHashTable<Key, Data, HashFnc>::SimpleHashTable(const HashFnc& h) : h_(h) { | |
| 51 | // Do nothing | ||
| 52 | ✗ | } | |
| 53 | |||
| 54 | //============================================================================== | ||
| 55 | template <typename Key, typename Data, typename HashFnc> | ||
| 56 | ✗ | void SimpleHashTable<Key, Data, HashFnc>::init(size_t size) { | |
| 57 | ✗ | if (size == 0) { | |
| 58 | ✗ | COAL_THROW_PRETTY("SimpleHashTable must have non-zero size.", | |
| 59 | std::logic_error); | ||
| 60 | } | ||
| 61 | |||
| 62 | ✗ | table_.resize(size); | |
| 63 | ✗ | table_size_ = size; | |
| 64 | ✗ | } | |
| 65 | |||
| 66 | //============================================================================== | ||
| 67 | template <typename Key, typename Data, typename HashFnc> | ||
| 68 | ✗ | void SimpleHashTable<Key, Data, HashFnc>::insert(Key key, Data value) { | |
| 69 | ✗ | std::vector<unsigned int> indices = h_(key); | |
| 70 | ✗ | size_t range = table_.size(); | |
| 71 | ✗ | for (size_t i = 0; i < indices.size(); ++i) | |
| 72 | ✗ | table_[indices[i] % range].push_back(value); | |
| 73 | ✗ | } | |
| 74 | |||
| 75 | //============================================================================== | ||
| 76 | template <typename Key, typename Data, typename HashFnc> | ||
| 77 | ✗ | std::vector<Data> SimpleHashTable<Key, Data, HashFnc>::query(Key key) const { | |
| 78 | ✗ | size_t range = table_.size(); | |
| 79 | ✗ | std::vector<unsigned int> indices = h_(key); | |
| 80 | ✗ | std::set<Data> result; | |
| 81 | ✗ | for (size_t i = 0; i < indices.size(); ++i) { | |
| 82 | ✗ | size_t index = indices[i] % range; | |
| 83 | ✗ | std::copy(table_[index].begin(), table_[index].end(), | |
| 84 | std::inserter(result, result.end())); | ||
| 85 | } | ||
| 86 | |||
| 87 | ✗ | return std::vector<Data>(result.begin(), result.end()); | |
| 88 | ✗ | } | |
| 89 | |||
| 90 | //============================================================================== | ||
| 91 | template <typename Key, typename Data, typename HashFnc> | ||
| 92 | ✗ | void SimpleHashTable<Key, Data, HashFnc>::remove(Key key, Data value) { | |
| 93 | ✗ | size_t range = table_.size(); | |
| 94 | ✗ | std::vector<unsigned int> indices = h_(key); | |
| 95 | ✗ | for (size_t i = 0; i < indices.size(); ++i) { | |
| 96 | ✗ | size_t index = indices[i] % range; | |
| 97 | ✗ | table_[index].remove(value); | |
| 98 | } | ||
| 99 | ✗ | } | |
| 100 | |||
| 101 | //============================================================================== | ||
| 102 | template <typename Key, typename Data, typename HashFnc> | ||
| 103 | ✗ | void SimpleHashTable<Key, Data, HashFnc>::clear() { | |
| 104 | ✗ | table_.clear(); | |
| 105 | ✗ | table_.resize(table_size_); | |
| 106 | ✗ | } | |
| 107 | |||
| 108 | } // namespace detail | ||
| 109 | } // namespace coal | ||
| 110 | |||
| 111 | #endif | ||
| 112 |