hpp-fcl 2.4.4
HPP fork of FCL -- The Flexible Collision Library
Loading...
Searching...
No Matches
interval_tree.h
Go to the documentation of this file.
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
38#ifndef HPP_FCL_INTERVAL_TREE_H
39#define HPP_FCL_INTERVAL_TREE_H
40
41#include <deque>
42#include <limits>
43#include <cstdlib>
44
46
47namespace hpp {
48namespace fcl {
49namespace detail {
50
55 public:
57
58 unsigned int parent_index;
59
61};
62
65 public:
67
69
71 void print() const;
72
75
78
81
84
87
89 std::deque<SimpleInterval*> query(FCL_REAL low, FCL_REAL high);
90
91 protected:
93
95
98
101
104
107
110 SimpleInterval* ivl) const;
111
115
117
118 private:
119 unsigned int recursion_node_stack_size;
120 it_recursion_node* recursion_node_stack;
121 unsigned int current_parent;
122 unsigned int recursion_node_stack_top;
123};
124
125} // namespace detail
126} // namespace fcl
127} // namespace hpp
128
129#endif
The node for interval tree.
Definition: interval_tree_node.h:52
Interval tree.
Definition: interval_tree.h:64
IntervalTreeNode * insert(SimpleInterval *new_interval)
Insert one node of the interval tree.
IntervalTreeNode * getSuccessor(IntervalTreeNode *node) const
Get the successor of a given node.
void deleteNode(SimpleInterval *ivl)
delete node stored a given interval
void fixupMaxHigh(IntervalTreeNode *node)
Travels up to the root fixing the max_high fields after an insertion or deletion.
void recursiveInsert(IntervalTreeNode *node)
Inserts node into the tree as if it were a regular binary tree.
std::deque< SimpleInterval * > query(FCL_REAL low, FCL_REAL high)
Return result for a given query.
void recursivePrint(IntervalTreeNode *node) const
recursively print a subtree
SimpleInterval * deleteNode(IntervalTreeNode *node)
Delete one node of the interval tree.
void print() const
Print the whole interval tree.
IntervalTreeNode * root
Definition: interval_tree.h:92
void deleteFixup(IntervalTreeNode *node)
void leftRotate(IntervalTreeNode *node)
left rotation of tree node
void rightRotate(IntervalTreeNode *node)
right rotation of tree node
IntervalTreeNode * nil
Definition: interval_tree.h:94
IntervalTreeNode * getPredecessor(IntervalTreeNode *node) const
get the predecessor of a given node
IntervalTreeNode * recursiveSearch(IntervalTreeNode *node, SimpleInterval *ivl) const
recursively find the node corresponding to the interval
#define HPP_FCL_DLLAPI
Definition: config.hh:88
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_...
Definition: simple_interval.h:50
Class describes the information needed when we take the right branch in searching for intervals but p...
Definition: interval_tree.h:54
unsigned int parent_index
Definition: interval_tree.h:58
bool try_right_branch
Definition: interval_tree.h:60
IntervalTreeNode * start_node
Definition: interval_tree.h:56