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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2016, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Jia Pan */ |
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#ifndef HPP_FCL_BROADPHASE_SPARSEHASHTABLE_H |
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#define HPP_FCL_BROADPHASE_SPARSEHASHTABLE_H |
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#include <set> |
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#include <vector> |
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#include <list> |
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#include <unordered_map> |
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namespace hpp { |
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namespace fcl { |
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namespace detail { |
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template <typename U, typename V> |
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class unordered_map_hash_table : public std::unordered_map<U, V> { |
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typedef std::unordered_map<U, V> Base; |
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public: |
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unordered_map_hash_table() : Base(){}; |
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}; |
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/// @brief A hash table implemented using unordered_map |
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template <typename Key, typename Data, typename HashFnc, |
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template <typename, typename> class TableT = unordered_map_hash_table> |
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class SparseHashTable { |
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protected: |
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HashFnc h_; |
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typedef std::list<Data> Bin; |
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typedef TableT<size_t, Bin> Table; |
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Table table_; |
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public: |
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SparseHashTable(const HashFnc& h); |
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/// @brief Init the hash table. The bucket size is dynamically decided. |
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void init(size_t); |
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/// @brief insert one key-value pair into the hash table |
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void insert(Key key, Data value); |
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/// @brief find the elements whose key is the same as the query |
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std::vector<Data> query(Key key) const; |
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/// @brief remove one key-value pair from the hash table |
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void remove(Key key, Data value); |
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/// @brief clear the hash table |
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void clear(); |
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}; |
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} // namespace detail |
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} // namespace fcl |
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} // namespace hpp |
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#include "hpp/fcl/broadphase/detail/sparse_hash_table-inl.h" |
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#endif |