dynamic_bitset.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
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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/***********************************************************************
 * Author: Vincent Rabaud
 *************************************************************************/
 
#ifndef RTABMAP_FLANN_DYNAMIC_BITSET_H_
#define RTABMAP_FLANN_DYNAMIC_BITSET_H_
 
//#define FLANN_USE_BOOST 1
#if FLANN_USE_BOOST
#include <boost/dynamic_bitset.hpp>
typedef boost::dynamic_bitset<> DynamicBitset;
#else
 
#include <limits.h>
 
namespace rtflann {
 
class DynamicBitset
{
public:
    DynamicBitset() : size_(0)
    {
    }
 
    DynamicBitset(size_t size)
    {
        resize(size);
        reset();
    }
 
    void clear()
    {
        std::fill(bitset_.begin(), bitset_.end(), 0);
    }
 
    bool empty() const
    {
        return bitset_.empty();
    }
 
    void reset()
    {
        std::fill(bitset_.begin(), bitset_.end(), 0);
    }
 
    void reset(size_t index)
    {
        bitset_[index / cell_bit_size_] &= ~(size_t(1) << (index % cell_bit_size_));
    }
 
    void reset_block(size_t index)
    {
        bitset_[index / cell_bit_size_] = 0;
    }
 
    void resize(size_t size)
    {
        size_ = size;
        bitset_.resize(size / cell_bit_size_ + 1);
    }
 
    void set(size_t index)
    {
        bitset_[index / cell_bit_size_] |= size_t(1) << (index % cell_bit_size_);
    }
 
    size_t size() const
    {
        return size_;
    }
 
    bool test(size_t index) const
    {
        return (bitset_[index / cell_bit_size_] & (size_t(1) << (index % cell_bit_size_))) != 0;
    }
 
private:
    template <typename Archive>
    void serialize(Archive& ar)
    {
        ar & size_;
        ar & bitset_;
    }
    friend struct serialization::access;
 
private:
    std::vector<size_t> bitset_;
    size_t size_;
    static const unsigned int cell_bit_size_ = CHAR_BIT * sizeof(size_t);
};
 
} // namespace flann
 
#endif
 
#endif // FLANN_DYNAMIC_BITSET_H_