general.h

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/***********************************************************************
 * Software License Agreement (BSD License)
 *
 * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
 * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
 *
 * THE BSD LICENSE
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. 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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *************************************************************************/
 
#ifndef RTABMAP_FLANN_GENERAL_H_
#define RTABMAP_FLANN_GENERAL_H_
 
#include "defines.h"
#include <stdexcept>
#include <cassert>
#include <limits.h>
 
namespace rtflann
{
 
class FLANNException : public std::runtime_error
{
public:
    FLANNException(const char* message) : std::runtime_error(message) { }
 
    FLANNException(const std::string& message) : std::runtime_error(message) { }
};
 
 
template <typename T>
struct flann_datatype_value
{
        static const flann_datatype_t value = FLANN_NONE;
};
 
template<>
struct flann_datatype_value<char>
{
        static const flann_datatype_t value = FLANN_INT8;
};
 
template<>
struct flann_datatype_value<short>
{
        static const flann_datatype_t value = FLANN_INT16;
};
 
template<>
struct flann_datatype_value<int>
{
        static const flann_datatype_t value = FLANN_INT32;
};
 
#ifdef LLONG_MAX
template<>
struct flann_datatype_value<long long>
{
        static const flann_datatype_t value = FLANN_INT64;
};
#endif
 
template<>
struct flann_datatype_value<unsigned char>
{
        static const flann_datatype_t value = FLANN_UINT8;
};
 
template<>
struct flann_datatype_value<unsigned short>
{
        static const flann_datatype_t value = FLANN_UINT16;
};
 
template<>
struct flann_datatype_value<unsigned int>
{
        static const flann_datatype_t value = FLANN_UINT32;
};
 
#ifdef ULLONG_MAX
template<>
struct flann_datatype_value<unsigned long long>
{
        static const flann_datatype_t value = FLANN_UINT64;
};
#endif
 
 
template<>
struct flann_datatype_value<float>
{
        static const flann_datatype_t value = FLANN_FLOAT32;
};
 
template<>
struct flann_datatype_value<double>
{
        static const flann_datatype_t value = FLANN_FLOAT64;
};
 
 
 
template <flann_datatype_t datatype>
struct flann_datatype_type
{
        typedef void type;
};
 
template<>
struct flann_datatype_type<FLANN_INT8>
{
        typedef char type;
};
 
template<>
struct flann_datatype_type<FLANN_INT16>
{
        typedef short type;
};
 
template<>
struct flann_datatype_type<FLANN_INT32>
{
        typedef int type;
};
 
#ifdef LLONG_MAX
template<>
struct flann_datatype_type<FLANN_INT64>
{
        typedef long long type;
};
#endif
 
template<>
struct flann_datatype_type<FLANN_UINT8>
{
        typedef unsigned char type;
};
 
 
template<>
struct flann_datatype_type<FLANN_UINT16>
{
        typedef unsigned short type;
};
 
template<>
struct flann_datatype_type<FLANN_UINT32>
{
        typedef unsigned int type;
};
 
#ifdef ULLONG_MAX
template<>
struct flann_datatype_type<FLANN_UINT64>
{
        typedef unsigned long long type;
};
#endif
 
template<>
struct flann_datatype_type<FLANN_FLOAT32>
{
        typedef float type;
};
 
template<>
struct flann_datatype_type<FLANN_FLOAT64>
{
        typedef double type;
};
 
 
inline size_t flann_datatype_size(flann_datatype_t type)
{
        switch (type) {
        case FLANN_INT8:
                return sizeof(flann_datatype_type<FLANN_INT8>::type);
        case FLANN_INT16:
                return sizeof(flann_datatype_type<FLANN_INT16>::type);
        case FLANN_INT32:
                return sizeof(flann_datatype_type<FLANN_INT32>::type);
        case FLANN_INT64:
                return sizeof(flann_datatype_type<FLANN_INT64>::type);
        case FLANN_UINT8:
                return sizeof(flann_datatype_type<FLANN_UINT8>::type);
        case FLANN_UINT16:
                return sizeof(flann_datatype_type<FLANN_UINT16>::type);
        case FLANN_UINT32:
                return sizeof(flann_datatype_type<FLANN_UINT32>::type);
        case FLANN_UINT64:
                return sizeof(flann_datatype_type<FLANN_UINT64>::type);
        case FLANN_FLOAT32:
                return sizeof(flann_datatype_type<FLANN_FLOAT32>::type);
        case FLANN_FLOAT64:
                return sizeof(flann_datatype_type<FLANN_FLOAT64>::type);
        default:
                return 0;
        }
}
 
}
 
 
#endif  /* RTABMAP_FLANN_GENERAL_H_ */