| 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 |
|
|
|