Program Listing for File index_se3_t.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 *
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * Licensed under the GNU GPL v3 for non-commercial applications.
 *
 * This file is part of MOLA.
 * MOLA is free software: you can redistribute it and/or modify it under the
 * terms of the GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option) any later
 * version.
 *
 * MOLA is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
 * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * MOLA. If not, see <https://www.gnu.org/licenses/>.
 * ------------------------------------------------------------------------- */
#pragma once

#include <cstdint>
#include <functional>  // hash<>
#include <iostream>

namespace mola
{
template <typename cell_coord_t = int32_t>
struct index_se3_t
{
    index_se3_t() = default;

    index_se3_t(
        cell_coord_t Cx, cell_coord_t Cy, cell_coord_t Cz, cell_coord_t Cyaw,
        cell_coord_t Cpitch, cell_coord_t Croll) noexcept
        : cx(Cx), cy(Cy), cz(Cz), cyaw(Cyaw), cpitch(Cpitch), croll(Croll)
    {
    }

    cell_coord_t cx = 0, cy = 0, cz = 0;
    cell_coord_t cyaw = 0, cpitch = 0, croll = 0;

    bool operator==(const index_se3_t<cell_coord_t>& o) const noexcept
    {
        return cx == o.cx && cy == o.cy && cz == o.cz && cyaw == o.cyaw &&
               cpitch == o.cpitch && croll == o.croll;
    }
    bool operator!=(const index_se3_t<cell_coord_t>& o) const noexcept
    {
        return !operator==(o);
    }
};

template <typename cell_coord_t>
std::ostream& operator<<(std::ostream& o, const index_se3_t<cell_coord_t>& idx)
{
    o << "(" << idx.cx << "," << idx.cy << "," << idx.cz << "," << idx.cyaw
      << "," << idx.cpitch << "," << idx.croll << ")";
    return o;
}

template <typename cell_coord_t = int32_t>
struct index_se3_t_hash
{
    std::size_t operator()(const index_se3_t<cell_coord_t>& k) const noexcept
    {
        std::hash<cell_coord_t> h;
        std::size_t             ret = 0;
        ret ^= h(k.cx) | 1;
        ret ^= h(k.cy) | 2;
        ret ^= h(k.cz) | 3;
        ret ^= h(k.cyaw) | 4;
        ret ^= h(k.cpitch) | 5;
        ret ^= h(k.croll) | 6;
        return ret;
    }
};

}  // namespace mola