.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_hierarchy_tree_array.h:

Program Listing for File hierarchy_tree_array.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_hierarchy_tree_array.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/detail/hierarchy_tree_array.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.
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    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
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    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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    */
   
   #ifndef HPP_FCL_HIERARCHY_TREE_ARRAY_H
   #define HPP_FCL_HIERARCHY_TREE_ARRAY_H
   
   #include <vector>
   #include <map>
   #include <functional>
   
   #include "hpp/fcl/fwd.hh"
   #include "hpp/fcl/BV/AABB.h"
   #include "hpp/fcl/broadphase/detail/morton.h"
   #include "hpp/fcl/broadphase/detail/node_base_array.h"
   
   namespace hpp {
   namespace fcl {
   
   namespace detail {
   
   namespace implementation_array {
   
   template <typename BV>
   class HierarchyTree {
    public:
     typedef NodeBase<BV> Node;
   
    private:
     struct SortByMorton {
       SortByMorton(Node* nodes_in) : nodes(nodes_in) {}
       SortByMorton(Node* nodes_in, uint32_t split_in)
           : nodes(nodes_in), split(split_in) {}
       bool operator()(size_t a, size_t b) const {
         if ((a != NULL_NODE) && (b != NULL_NODE))
           return nodes[a].code < nodes[b].code;
         else if (a == NULL_NODE)
           return split < nodes[b].code;
         else if (b == NULL_NODE)
           return nodes[a].code < split;
   
         return false;
       }
   
       Node* nodes{};
       uint32_t split{};
     };
   
    public:
     HierarchyTree(int bu_threshold_ = 16, int topdown_level_ = 0);
   
     ~HierarchyTree();
   
     void init(Node* leaves, int n_leaves_, int level = 0);
   
     size_t insert(const BV& bv, void* data);
   
     void remove(size_t leaf);
   
     void clear();
   
     bool empty() const;
   
     void update(size_t leaf, int lookahead_level = -1);
   
     bool update(size_t leaf, const BV& bv);
   
     bool update(size_t leaf, const BV& bv, const Vec3f& vel, FCL_REAL margin);
   
     bool update(size_t leaf, const BV& bv, const Vec3f& vel);
   
     size_t getMaxHeight() const;
   
     size_t getMaxDepth() const;
   
     void balanceBottomup();
   
     void balanceTopdown();
   
     void balanceIncremental(int iterations);
   
     void refit();
   
     void extractLeaves(size_t root, Node*& leaves) const;
   
     size_t size() const;
   
     size_t getRoot() const;
   
     Node* getNodes() const;
   
     void print(size_t root, int depth);
   
    private:
     void bottomup(size_t* lbeg, size_t* lend);
   
     size_t topdown(size_t* lbeg, size_t* lend);
   
     size_t getMaxHeight(size_t node) const;
   
     void getMaxDepth(size_t node, size_t depth, size_t& max_depth) const;
   
     size_t topdown_0(size_t* lbeg, size_t* lend);
   
     size_t topdown_1(size_t* lbeg, size_t* lend);
   
     void init_0(Node* leaves, int n_leaves_);
   
     void init_1(Node* leaves, int n_leaves_);
   
     void init_2(Node* leaves, int n_leaves_);
   
     void init_3(Node* leaves, int n_leaves_);
   
     size_t mortonRecurse_0(size_t* lbeg, size_t* lend, const uint32_t& split,
                            int bits);
   
     size_t mortonRecurse_1(size_t* lbeg, size_t* lend, const uint32_t& split,
                            int bits);
   
     size_t mortonRecurse_2(size_t* lbeg, size_t* lend);
   
     void update_(size_t leaf, const BV& bv);
   
     void insertLeaf(size_t root, size_t leaf);
   
     size_t removeLeaf(size_t leaf);
   
     void fetchLeaves(size_t root, Node*& leaves, int depth = -1);
   
     size_t indexOf(size_t node);
   
     size_t allocateNode();
   
     size_t createNode(size_t parent, const BV& bv1, const BV& bv2, void* data);
   
     size_t createNode(size_t parent, const BV& bv, void* data);
   
     size_t createNode(size_t parent, void* data);
   
     void deleteNode(size_t node);
   
     void recurseRefit(size_t node);
   
    protected:
     size_t root_node;
     Node* nodes;
     size_t n_nodes;
     size_t n_nodes_alloc;
   
     size_t n_leaves;
     size_t freelist;
     unsigned int opath;
   
     int max_lookahead_level;
   
    public:
     int topdown_level;
   
     int bu_threshold;
   
    public:
     static const size_t NULL_NODE = std::numeric_limits<size_t>::max();
   };
   
   template <typename BV>
   const size_t HierarchyTree<BV>::NULL_NODE;
   
   template <typename BV>
   struct nodeBaseLess {
     nodeBaseLess(const NodeBase<BV>* nodes_, size_t d_);
   
     bool operator()(size_t i, size_t j) const;
   
    private:
     const NodeBase<BV>* nodes;
   
     size_t d;
   };
   
   template <typename BV>
   size_t select(size_t query, size_t node1, size_t node2, NodeBase<BV>* nodes);
   
   template <typename BV>
   size_t select(const BV& query, size_t node1, size_t node2, NodeBase<BV>* nodes);
   
   }  // namespace implementation_array
   }  // namespace detail
   }  // namespace fcl
   }  // namespace hpp
   
   #include "hpp/fcl/broadphase/detail/hierarchy_tree_array-inl.h"
   
   #endif