interval_tree.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef HPP_FCL_INTERVAL_TREE_H
#define HPP_FCL_INTERVAL_TREE_H
 
#include <deque>
#include <limits>
#include <cstdlib>
 
#include "hpp/fcl/broadphase/detail/interval_tree_node.h"
 
namespace hpp {
namespace fcl {
namespace detail {
 
struct HPP_FCL_DLLAPI it_recursion_node {
 public:
  IntervalTreeNode* start_node;
 
  unsigned int parent_index;
 
  bool try_right_branch;
};
 
class HPP_FCL_DLLAPI IntervalTree {
 public:
  IntervalTree();
 
  ~IntervalTree();
 
  void print() const;
 
  SimpleInterval* deleteNode(IntervalTreeNode* node);
 
  void deleteNode(SimpleInterval* ivl);
 
  IntervalTreeNode* insert(SimpleInterval* new_interval);
 
  IntervalTreeNode* getPredecessor(IntervalTreeNode* node) const;
 
  IntervalTreeNode* getSuccessor(IntervalTreeNode* node) const;
 
  std::deque<SimpleInterval*> query(FCL_REAL low, FCL_REAL high);
 
 protected:
  IntervalTreeNode* root;
 
  IntervalTreeNode* invalid_node;
 
  void leftRotate(IntervalTreeNode* node);
 
  void rightRotate(IntervalTreeNode* node);
 
  void recursiveInsert(IntervalTreeNode* node);
 
  void recursivePrint(IntervalTreeNode* node) const;
 
  IntervalTreeNode* recursiveSearch(IntervalTreeNode* node,
                                    SimpleInterval* ivl) const;
 
  void fixupMaxHigh(IntervalTreeNode* node);
 
  void deleteFixup(IntervalTreeNode* node);
 
 private:
  unsigned int recursion_node_stack_size;
  it_recursion_node* recursion_node_stack;
  unsigned int current_parent;
  unsigned int recursion_node_stack_top;
};
 
}  // namespace detail
}  // namespace fcl
}  // namespace hpp
 
#endif