dynamic_bitset.h
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00001 /***********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
00005  * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
00006  *
00007  * THE BSD LICENSE
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00010  * modification, are permitted provided that the following conditions
00011  * are met:
00012  *
00013  * 1. Redistributions of source code must retain the above copyright
00014  *    notice, this list of conditions and the following disclaimer.
00015  * 2. Redistributions in binary form must reproduce the above copyright
00016  *    notice, this list of conditions and the following disclaimer in the
00017  *    documentation and/or other materials provided with the distribution.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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00030 
00031 /***********************************************************************
00032  * Author: Vincent Rabaud
00033  *************************************************************************/
00034 
00035 #ifndef RTABMAP_FLANN_DYNAMIC_BITSET_H_
00036 #define RTABMAP_FLANN_DYNAMIC_BITSET_H_
00037 
00038 //#define FLANN_USE_BOOST 1
00039 #if FLANN_USE_BOOST
00040 #include <boost/dynamic_bitset.hpp>
00041 typedef boost::dynamic_bitset<> DynamicBitset;
00042 #else
00043 
00044 #include <limits.h>
00045 
00046 namespace rtflann {
00047 
00052 class DynamicBitset
00053 {
00054 public:
00057     DynamicBitset() : size_(0)
00058     {
00059     }
00060 
00064     DynamicBitset(size_t size)
00065     {
00066         resize(size);
00067         reset();
00068     }
00069 
00072     void clear()
00073     {
00074         std::fill(bitset_.begin(), bitset_.end(), 0);
00075     }
00076 
00080     bool empty() const
00081     {
00082         return bitset_.empty();
00083     }
00084 
00087     void reset()
00088     {
00089         std::fill(bitset_.begin(), bitset_.end(), 0);
00090     }
00091 
00095     void reset(size_t index)
00096     {
00097         bitset_[index / cell_bit_size_] &= ~(size_t(1) << (index % cell_bit_size_));
00098     }
00099 
00106     void reset_block(size_t index)
00107     {
00108         bitset_[index / cell_bit_size_] = 0;
00109     }
00110 
00114     void resize(size_t size)
00115     {
00116         size_ = size;
00117         bitset_.resize(size / cell_bit_size_ + 1);
00118     }
00119 
00123     void set(size_t index)
00124     {
00125         bitset_[index / cell_bit_size_] |= size_t(1) << (index % cell_bit_size_);
00126     }
00127 
00130     size_t size() const
00131     {
00132         return size_;
00133     }
00134 
00139     bool test(size_t index) const
00140     {
00141         return (bitset_[index / cell_bit_size_] & (size_t(1) << (index % cell_bit_size_))) != 0;
00142     }
00143 
00144 private:
00145     template <typename Archive>
00146     void serialize(Archive& ar)
00147     {
00148         ar & size_;
00149         ar & bitset_;
00150     }
00151     friend struct serialization::access;
00152 
00153 private:
00154     std::vector<size_t> bitset_;
00155     size_t size_;
00156     static const unsigned int cell_bit_size_ = CHAR_BIT * sizeof(size_t);
00157 };
00158 
00159 } // namespace flann
00160 
00161 #endif
00162 
00163 #endif // FLANN_DYNAMIC_BITSET_H_


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:19