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File: | include/coal/broadphase/detail/sparse_hash_table-inl.h |
Date: | 2025-04-01 09:23:31 |
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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 | ||
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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_SPARSEHASHTABLE_INL_H | ||
39 | #define COAL_BROADPHASE_SPARSEHASHTABLE_INL_H | ||
40 | |||
41 | #include "coal/broadphase/detail/sparse_hash_table.h" | ||
42 | |||
43 | namespace coal { | ||
44 | |||
45 | namespace detail { | ||
46 | |||
47 | //============================================================================== | ||
48 | template <typename Key, typename Data, typename HashFnc, | ||
49 | template <typename, typename> class TableT> | ||
50 | 51 | SparseHashTable<Key, Data, HashFnc, TableT>::SparseHashTable(const HashFnc& h) | |
51 | 51 | : h_(h) { | |
52 | // Do nothing | ||
53 | 51 | } | |
54 | |||
55 | //============================================================================== | ||
56 | template <typename Key, typename Data, typename HashFnc, | ||
57 | template <typename, typename> class TableT> | ||
58 | 51 | void SparseHashTable<Key, Data, HashFnc, TableT>::init(size_t) { | |
59 | 51 | table_.clear(); | |
60 | 51 | } | |
61 | |||
62 | //============================================================================== | ||
63 | template <typename Key, typename Data, typename HashFnc, | ||
64 | template <typename, typename> class TableT> | ||
65 | 14004 | void SparseHashTable<Key, Data, HashFnc, TableT>::insert(Key key, Data value) { | |
66 |
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14004 | std::vector<unsigned int> indices = h_(key); |
67 |
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182304 | for (size_t i = 0; i < indices.size(); ++i) |
68 |
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168300 | table_[indices[i]].push_back(value); |
69 | 14004 | } | |
70 | |||
71 | //============================================================================== | ||
72 | template <typename Key, typename Data, typename HashFnc, | ||
73 | template <typename, typename> class TableT> | ||
74 | 8989 | std::vector<Data> SparseHashTable<Key, Data, HashFnc, TableT>::query( | |
75 | Key key) const { | ||
76 |
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8989 | std::vector<unsigned int> indices = h_(key); |
77 | 8989 | std::set<Data> result; | |
78 |
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1056434 | for (size_t i = 0; i < indices.size(); ++i) { |
79 | 1047445 | unsigned int index = indices[i]; | |
80 |
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1047445 | typename Table::const_iterator p = table_.find(index); |
81 |
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1047445 | if (p != table_.end()) { |
82 |
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22423 | std::copy((*p).second.begin(), (*p).second.end(), |
83 | std ::inserter(result, result.end())); | ||
84 | } | ||
85 | } | ||
86 | |||
87 |
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17978 | return std::vector<Data>(result.begin(), result.end()); |
88 | 8989 | } | |
89 | |||
90 | //============================================================================== | ||
91 | template <typename Key, typename Data, typename HashFnc, | ||
92 | template <typename, typename> class TableT> | ||
93 | ✗ | void SparseHashTable<Key, Data, HashFnc, TableT>::remove(Key key, Data value) { | |
94 | ✗ | std::vector<unsigned int> indices = h_(key); | |
95 | ✗ | for (size_t i = 0; i < indices.size(); ++i) { | |
96 | ✗ | unsigned int index = indices[i]; | |
97 | ✗ | table_[index].remove(value); | |
98 | } | ||
99 | } | ||
100 | |||
101 | //============================================================================== | ||
102 | template <typename Key, typename Data, typename HashFnc, | ||
103 | template <typename, typename> class TableT> | ||
104 | 13 | void SparseHashTable<Key, Data, HashFnc, TableT>::clear() { | |
105 | 13 | table_.clear(); | |
106 | 13 | } | |
107 | |||
108 | } // namespace detail | ||
109 | } // namespace coal | ||
110 | |||
111 | #endif | ||
112 |