Program Listing for File interval_tree.h
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#ifndef HPP_FCL_INTERVAL_TREE_H
#define HPP_FCL_INTERVAL_TREE_H
#include <deque>
#include <limits>
#include <cstdlib>
#include "hpp/fcl/broadphase/detail/interval_tree_node.h"
namespace hpp {
namespace fcl {
namespace detail {
struct HPP_FCL_DLLAPI it_recursion_node {
public:
IntervalTreeNode* start_node;
unsigned int parent_index;
bool try_right_branch;
};
class HPP_FCL_DLLAPI IntervalTree {
public:
IntervalTree();
~IntervalTree();
void print() const;
SimpleInterval* deleteNode(IntervalTreeNode* node);
void deleteNode(SimpleInterval* ivl);
IntervalTreeNode* insert(SimpleInterval* new_interval);
IntervalTreeNode* getPredecessor(IntervalTreeNode* node) const;
IntervalTreeNode* getSuccessor(IntervalTreeNode* node) const;
std::deque<SimpleInterval*> query(FCL_REAL low, FCL_REAL high);
protected:
IntervalTreeNode* root;
IntervalTreeNode* nil;
void leftRotate(IntervalTreeNode* node);
void rightRotate(IntervalTreeNode* node);
void recursiveInsert(IntervalTreeNode* node);
void recursivePrint(IntervalTreeNode* node) const;
IntervalTreeNode* recursiveSearch(IntervalTreeNode* node,
SimpleInterval* ivl) const;
void fixupMaxHigh(IntervalTreeNode* node);
void deleteFixup(IntervalTreeNode* node);
private:
unsigned int recursion_node_stack_size;
it_recursion_node* recursion_node_stack;
unsigned int current_parent;
unsigned int recursion_node_stack_top;
};
} // namespace detail
} // namespace fcl
} // namespace hpp
#endif