.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_interval_tree.h:

Program Listing for File interval_tree.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_interval_tree.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/detail/interval_tree.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_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