interval_tree_node.cpp

Go to the documentation of this file.

/*
 * 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 COAL_BROADPHASE_DETAIL_INTERVALTREENODE_INL_H
#define COAL_BROADPHASE_DETAIL_INTERVALTREENODE_INL_H
 
#include "coal/broadphase/detail/interval_tree_node.h"
 
#include <iostream>
#include <algorithm>
 
namespace coal {
namespace detail {
 
//==============================================================================
IntervalTreeNode::IntervalTreeNode() {
  // Do nothing
}
 
//==============================================================================
IntervalTreeNode::IntervalTreeNode(SimpleInterval* new_interval)
    : stored_interval(new_interval),
      key(new_interval->low),
      high(new_interval->high),
      max_high(high) {
  // Do nothing
}
 
//==============================================================================
IntervalTreeNode::~IntervalTreeNode() {
  // Do nothing
}
 
//==============================================================================
void IntervalTreeNode::print(IntervalTreeNode* invalid_node,
                             IntervalTreeNode* root) const {
  stored_interval->print();
  std::cout << ", k = " << key << ", h = " << high << ", mH = " << max_high;
  std::cout << "  l->key = ";
  if (left == invalid_node)
    std::cout << "nullptr";
  else
    std::cout << left->key;
  std::cout << "  r->key = ";
  if (right == invalid_node)
    std::cout << "nullptr";
  else
    std::cout << right->key;
  std::cout << "  p->key = ";
  if (parent == root)
    std::cout << "nullptr";
  else
    std::cout << parent->key;
  std::cout << "  red = " << (int)red << std::endl;
}
 
}  // namespace detail
}  // namespace coal
 
#endif