| 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_SPARSEHASHTABLE_H | ||
| 39 | #define COAL_BROADPHASE_SPARSEHASHTABLE_H | ||
| 40 | |||
| 41 | #include <set> | ||
| 42 | #include <vector> | ||
| 43 | #include <list> | ||
| 44 | #include <unordered_map> | ||
| 45 | |||
| 46 | namespace coal { | ||
| 47 | |||
| 48 | namespace detail { | ||
| 49 | |||
| 50 | template <typename U, typename V> | ||
| 51 | class unordered_map_hash_table : public std::unordered_map<U, V> { | ||
| 52 | typedef std::unordered_map<U, V> Base; | ||
| 53 | |||
| 54 | public: | ||
| 55 | 51 | unordered_map_hash_table() : Base() {}; | |
| 56 | }; | ||
| 57 | |||
| 58 | /// @brief A hash table implemented using unordered_map | ||
| 59 | template <typename Key, typename Data, typename HashFnc, | ||
| 60 | template <typename, typename> class TableT = unordered_map_hash_table> | ||
| 61 | class SparseHashTable { | ||
| 62 | protected: | ||
| 63 | HashFnc h_; | ||
| 64 | typedef std::list<Data> Bin; | ||
| 65 | typedef TableT<size_t, Bin> Table; | ||
| 66 | |||
| 67 | Table table_; | ||
| 68 | |||
| 69 | public: | ||
| 70 | SparseHashTable(const HashFnc& h); | ||
| 71 | |||
| 72 | /// @brief Init the hash table. The bucket size is dynamically decided. | ||
| 73 | void init(size_t); | ||
| 74 | |||
| 75 | /// @brief insert one key-value pair into the hash table | ||
| 76 | void insert(Key key, Data value); | ||
| 77 | |||
| 78 | /// @brief find the elements whose key is the same as the query | ||
| 79 | std::vector<Data> query(Key key) const; | ||
| 80 | |||
| 81 | /// @brief remove one key-value pair from the hash table | ||
| 82 | void remove(Key key, Data value); | ||
| 83 | |||
| 84 | /// @brief clear the hash table | ||
| 85 | void clear(); | ||
| 86 | }; | ||
| 87 | |||
| 88 | } // namespace detail | ||
| 89 | } // namespace coal | ||
| 90 | |||
| 91 | #include "coal/broadphase/detail/sparse_hash_table-inl.h" | ||
| 92 | |||
| 93 | #endif | ||
| 94 |