hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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sparse_hash_table-inl.h
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35
38#ifndef HPP_FCL_BROADPHASE_SPARSEHASHTABLE_INL_H
39#define HPP_FCL_BROADPHASE_SPARSEHASHTABLE_INL_H
40
42
43namespace hpp {
44namespace fcl {
45
46namespace detail {
47
48//==============================================================================
49template <typename Key, typename Data, typename HashFnc,
50 template <typename, typename> class TableT>
52 : h_(h) {
53 // Do nothing
54}
55
56//==============================================================================
57template <typename Key, typename Data, typename HashFnc,
58 template <typename, typename> class TableT>
60 table_.clear();
61}
62
63//==============================================================================
64template <typename Key, typename Data, typename HashFnc,
65 template <typename, typename> class TableT>
67 std::vector<unsigned int> indices = h_(key);
68 for (size_t i = 0; i < indices.size(); ++i)
69 table_[indices[i]].push_back(value);
70}
71
72//==============================================================================
73template <typename Key, typename Data, typename HashFnc,
74 template <typename, typename> class TableT>
76 Key key) const {
77 std::vector<unsigned int> indices = h_(key);
78 std::set<Data> result;
79 for (size_t i = 0; i < indices.size(); ++i) {
80 unsigned int index = indices[i];
81 typename Table::const_iterator p = table_.find(index);
82 if (p != table_.end()) {
83 std::copy((*p).second.begin(), (*p).second.end(),
84 std ::inserter(result, result.end()));
85 }
86 }
87
88 return std::vector<Data>(result.begin(), result.end());
89}
90
91//==============================================================================
92template <typename Key, typename Data, typename HashFnc,
93 template <typename, typename> class TableT>
95 std::vector<unsigned int> indices = h_(key);
96 for (size_t i = 0; i < indices.size(); ++i) {
97 unsigned int index = indices[i];
98 table_[index].remove(value);
99 }
100}
101
102//==============================================================================
103template <typename Key, typename Data, typename HashFnc,
104 template <typename, typename> class TableT>
106 table_.clear();
107}
108
109} // namespace detail
110} // namespace fcl
111} // namespace hpp
112
113#endif
SparseHashTable(const HashFnc &h)
Definition: sparse_hash_table-inl.h:51
void clear()
clear the hash table
Definition: sparse_hash_table-inl.h:105
std::vector< Data > query(Key key) const
find the elements whose key is the same as the query
Definition: sparse_hash_table-inl.h:75
void init(size_t)
Init the hash table. The bucket size is dynamically decided.
Definition: sparse_hash_table-inl.h:59
void insert(Key key, Data value)
insert one key-value pair into the hash table
Definition: sparse_hash_table-inl.h:66
void remove(Key key, Data value)
remove one key-value pair from the hash table
Definition: sparse_hash_table-inl.h:94
Main namespace.
Definition: broadphase_bruteforce.h:44