interval_tree.h
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35 
38 #ifndef HPP_FCL_INTERVAL_TREE_H
39 #define HPP_FCL_INTERVAL_TREE_H
40 
41 #include <deque>
42 #include <limits>
43 #include <cstdlib>
44 
46 
47 namespace hpp {
48 namespace fcl {
49 namespace detail {
50 
54 struct HPP_FCL_DLLAPI it_recursion_node {
55  public:
57 
58  unsigned int parent_index;
59 
61 };
62 
64 class HPP_FCL_DLLAPI IntervalTree {
65  public:
66  IntervalTree();
67 
68  ~IntervalTree();
69 
71  void print() const;
72 
74  SimpleInterval* deleteNode(IntervalTreeNode* node);
75 
77  void deleteNode(SimpleInterval* ivl);
78 
80  IntervalTreeNode* insert(SimpleInterval* new_interval);
81 
83  IntervalTreeNode* getPredecessor(IntervalTreeNode* node) const;
84 
86  IntervalTreeNode* getSuccessor(IntervalTreeNode* node) const;
87 
89  std::deque<SimpleInterval*> query(FCL_REAL low, FCL_REAL high);
90 
91  protected:
93 
95 
97  void leftRotate(IntervalTreeNode* node);
98 
100  void rightRotate(IntervalTreeNode* node);
101 
103  void recursiveInsert(IntervalTreeNode* node);
104 
106  void recursivePrint(IntervalTreeNode* node) const;
107 
109  IntervalTreeNode* recursiveSearch(IntervalTreeNode* node,
110  SimpleInterval* ivl) const;
111 
114  void fixupMaxHigh(IntervalTreeNode* node);
115 
116  void deleteFixup(IntervalTreeNode* node);
117 
118  private:
121  unsigned int current_parent;
123 };
124 
125 } // namespace detail
126 } // namespace fcl
127 } // namespace hpp
128 
129 #endif
hpp::fcl::detail::it_recursion_node
Class describes the information needed when we take the right branch in searching for intervals but p...
Definition: interval_tree.h:54
print
void print(const Eigen::SparseMatrix< Scalar, Options > &mat)
hpp::fcl::detail::IntervalTree::nil
IntervalTreeNode * nil
Definition: interval_tree.h:94
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp::fcl::detail::IntervalTreeNode
The node for interval tree.
Definition: interval_tree_node.h:52
hpp::fcl::detail::it_recursion_node::start_node
IntervalTreeNode * start_node
Definition: interval_tree.h:56
hpp::fcl::detail::IntervalTree::current_parent
unsigned int current_parent
Definition: interval_tree.h:121
hpp::fcl::detail::it_recursion_node::try_right_branch
bool try_right_branch
Definition: interval_tree.h:60
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::detail::IntervalTree::recursion_node_stack_top
unsigned int recursion_node_stack_top
Definition: interval_tree.h:122
hpp::fcl::detail::IntervalTree::root
IntervalTreeNode * root
Definition: interval_tree.h:92
hpp::fcl::detail::IntervalTree
Interval tree.
Definition: interval_tree.h:64
hpp::fcl::detail::IntervalTree::recursion_node_stack_size
unsigned int recursion_node_stack_size
Definition: interval_tree.h:119
hpp::fcl::detail::IntervalTree
class HPP_FCL_DLLAPI IntervalTree
Definition: interval_tree_node.h:49
hpp::fcl::detail::SimpleInterval
Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_...
Definition: simple_interval.h:50
hpp::fcl::detail::it_recursion_node::parent_index
unsigned int parent_index
Definition: interval_tree.h:58
interval_tree_node.h
hpp::fcl::detail::IntervalTree::recursion_node_stack
it_recursion_node * recursion_node_stack
Definition: interval_tree.h:120


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autogenerated on Fri Aug 2 2024 02:45:14