.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_broadphase_spatialhash.h:

Program Listing for File broadphase_spatialhash.h
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_broadphase_spatialhash.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/broadphase_spatialhash.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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_BROADPHASE_BROADPAHSESPATIALHASH_H
   #define HPP_FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
   
   #include <list>
   #include <map>
   #include "hpp/fcl/BV/AABB.h"
   #include "hpp/fcl/broadphase/broadphase_collision_manager.h"
   #include "hpp/fcl/broadphase/detail/simple_hash_table.h"
   #include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
   #include "hpp/fcl/broadphase/detail/spatial_hash.h"
   
   namespace hpp {
   namespace fcl {
   
   template <typename HashTable = detail::SimpleHashTable<AABB, CollisionObject*,
                                                          detail::SpatialHash> >
   class SpatialHashingCollisionManager : public BroadPhaseCollisionManager {
    public:
     typedef BroadPhaseCollisionManager Base;
     using Base::getObjects;
   
     SpatialHashingCollisionManager(FCL_REAL cell_size, const Vec3f& scene_min,
                                    const Vec3f& scene_max,
                                    unsigned int default_table_size = 1000);
   
     ~SpatialHashingCollisionManager();
   
     void registerObject(CollisionObject* obj);
   
     void unregisterObject(CollisionObject* obj);
   
     void setup();
   
     virtual void update();
   
     void update(CollisionObject* updated_obj);
   
     void update(const std::vector<CollisionObject*>& updated_objs);
   
     void clear();
   
     void getObjects(std::vector<CollisionObject*>& objs) const;
   
     void collide(CollisionObject* obj, CollisionCallBackBase* callback) const;
   
     void distance(CollisionObject* obj, DistanceCallBackBase* callback) const;
   
     void collide(CollisionCallBackBase* callback) const;
   
     void distance(DistanceCallBackBase* callback) const;
   
     void collide(BroadPhaseCollisionManager* other_manager,
                  CollisionCallBackBase* callback) const;
   
     void distance(BroadPhaseCollisionManager* other_manager,
                   DistanceCallBackBase* callback) const;
   
     bool empty() const;
   
     size_t size() const;
   
     static void computeBound(std::vector<CollisionObject*>& objs, Vec3f& l,
                              Vec3f& u);
   
    protected:
     bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
   
     bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
                    FCL_REAL& min_dist) const;
   
     std::list<CollisionObject*> objs;
   
     std::list<CollisionObject*> objs_partially_penetrating_scene_limit;
   
     std::list<CollisionObject*> objs_outside_scene_limit;
   
     AABB scene_limit;
   
     std::map<CollisionObject*, AABB> obj_aabb_map;
   
     HashTable* hash_table;
   
    private:
     enum ObjectStatus { Inside, PartiallyPenetrating, Outside };
   
     template <typename Container>
     bool distanceObjectToObjects(CollisionObject* obj, const Container& objs,
                                  DistanceCallBackBase* callback,
                                  FCL_REAL& min_dist) const;
   };
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #include "hpp/fcl/broadphase/broadphase_spatialhash-inl.h"
   
   #endif