sparse_hash_table-inl.h

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#ifndef HPP_FCL_BROADPHASE_SPARSEHASHTABLE_INL_H
#define HPP_FCL_BROADPHASE_SPARSEHASHTABLE_INL_H
 
#include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
 
namespace hpp {
namespace fcl {
 
namespace detail {
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
SparseHashTable<Key, Data, HashFnc, TableT>::SparseHashTable(const HashFnc& h)
    : h_(h) {
  // Do nothing
}
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
void SparseHashTable<Key, Data, HashFnc, TableT>::init(size_t) {
  table_.clear();
}
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
void SparseHashTable<Key, Data, HashFnc, TableT>::insert(Key key, Data value) {
  std::vector<unsigned int> indices = h_(key);
  for (size_t i = 0; i < indices.size(); ++i)
    table_[indices[i]].push_back(value);
}
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
std::vector<Data> SparseHashTable<Key, Data, HashFnc, TableT>::query(
    Key key) const {
  std::vector<unsigned int> indices = h_(key);
  std::set<Data> result;
  for (size_t i = 0; i < indices.size(); ++i) {
    unsigned int index = indices[i];
    typename Table::const_iterator p = table_.find(index);
    if (p != table_.end()) {
      std::copy((*p).second.begin(), (*p).second.end(),
                std ::inserter(result, result.end()));
    }
  }
 
  return std::vector<Data>(result.begin(), result.end());
}
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
void SparseHashTable<Key, Data, HashFnc, TableT>::remove(Key key, Data value) {
  std::vector<unsigned int> indices = h_(key);
  for (size_t i = 0; i < indices.size(); ++i) {
    unsigned int index = indices[i];
    table_[index].remove(value);
  }
}
 
//==============================================================================
template <typename Key, typename Data, typename HashFnc,
          template <typename, typename> class TableT>
void SparseHashTable<Key, Data, HashFnc, TableT>::clear() {
  table_.clear();
}
 
}  // namespace detail
}  // namespace fcl
}  // namespace hpp
 
#endif