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<div class="title">GridB.h</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_GRID_B_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_GRID_B_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/datastructures/GridN.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/datastructures/BinaryHeap.h"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045
<a name="l00048"></a>00048 <span class="keyword">template</span> < <span class="keyword">typename</span> _T,
<a name="l00049"></a>00049 <span class="keyword">class </span>LessThanExternal = std::less<_T>,
<a name="l00050"></a>00050 <span class="keyword">class </span>LessThanInternal = LessThanExternal >
<a name="l00051"></a><a class="code" href="classompl_1_1GridB.html">00051</a> <span class="keyword">class </span><a class="code" href="classompl_1_1GridB.html" title="This class defines a grid that keeps track of its boundary: it distinguishes between interior and ext...">GridB</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN</a><_T>
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 <span class="keyword">public</span>:
<a name="l00054"></a>00054
<a name="l00056"></a><a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3">00056</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structompl_1_1GridN_1_1Cell.html" title="Definition of a cell in this grid.">GridN<_T>::Cell</a> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>;
<a name="l00057"></a>00057
<a name="l00059"></a><a class="code" href="classompl_1_1GridB.html#a8af7231656ec5aac513048369d7388d8">00059</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classompl_1_1GridN.html#a44c57859eaebc6bdc3c9c453662ac252" title="The datatype for arrays of cells.">GridN<_T>::CellArray</a> <a class="code" href="classompl_1_1GridB.html#a8af7231656ec5aac513048369d7388d8" title="The datatype for arrays of cells.">CellArray</a>;
<a name="l00060"></a>00060
<a name="l00062"></a><a class="code" href="classompl_1_1GridB.html#ae1ffa2705f26a8916307afa7b020ba49">00062</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342" title="Datatype for cell coordinates.">GridN<_T>::Coord</a> <a class="code" href="classompl_1_1GridB.html#ae1ffa2705f26a8916307afa7b020ba49" title="Datatype for cell coordinates.">Coord</a>;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keyword">protected</span>:
<a name="l00065"></a>00065
<a name="l00067"></a>00067 <span class="comment">// the type of cell here needs an extra pointer to allow the updatable heap to work fast</span>
<a name="l00068"></a>00068 <span class="comment">// however, this stays hidden from the user</span>
<a name="l00069"></a>00069 <span class="keyword">struct </span>CellX : <span class="keyword">public</span> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 CellX(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>()
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keyword">virtual</span> ~CellX(<span class="keywordtype">void</span>)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordtype">void</span> *heapElement;
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keyword">public</span>:
<a name="l00085"></a>00085
<a name="l00087"></a><a class="code" href="classompl_1_1GridB.html#a1023a1ca22bfe01e260ed8c975407aea">00087</a> <span class="keyword">typedef</span> void (*<a class="code" href="classompl_1_1GridB.html#a1023a1ca22bfe01e260ed8c975407aea">EventCellUpdate</a>)(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>*, <span class="keywordtype">void</span>*);
<a name="l00088"></a>00088
<a name="l00090"></a>00090 <span class="keyword">explicit</span>
<a name="l00091"></a><a class="code" href="classompl_1_1GridB.html#a6f51bf34a19905e875d6bdffa3246b11">00091</a> <a class="code" href="classompl_1_1GridB.html#a6f51bf34a19905e875d6bdffa3246b11" title="Constructor.">GridB</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension) : <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN</a><_T>(dimension)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <a class="code" href="classompl_1_1GridB.html#a3f5dabc334b16206f08ca6845b750e17" title="Set the update procedure for the heaps of internal and external cells.">setupHeaps</a>();
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1GridB.html" title="This class defines a grid that keeps track of its boundary: it distinguishes between interior and ext...">GridB</a>(<span class="keywordtype">void</span>)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <a class="code" href="classompl_1_1GridB.html#a600b0fb6110d0a9cd0c8a2d65bbec4e8" title="Clear the data from both heaps.">clearHeaps</a>();
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00103"></a><a class="code" href="classompl_1_1GridB.html#a89bffe3573ef977f63b4ab4ff7759705">00103</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a89bffe3573ef977f63b4ab4ff7759705">onCellUpdate</a>(<a class="code" href="classompl_1_1GridB.html#a1023a1ca22bfe01e260ed8c975407aea">EventCellUpdate</a> event, <span class="keywordtype">void</span> *arg)
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a> = event;
<a name="l00106"></a>00106 <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a> = arg;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
<a name="l00110"></a><a class="code" href="classompl_1_1GridB.html#a904761417572e6715c13028ba5c3ee13">00110</a> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* <a class="code" href="classompl_1_1GridB.html#a904761417572e6715c13028ba5c3ee13" title="Return the cell that is at the top of the heap maintaining internal cells.">topInternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00111"></a>00111 <span class="keyword"> </span>{
<a name="l00112"></a>00112 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* top = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>*<span class="keyword">></span>(<a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a4288f352550d26811383a45b2a9fb6e7" title="Return the top element. NULL for an empty heap.">top</a>()->data);
<a name="l00113"></a>00113 <span class="keywordflow">return</span> top ? top : <a class="code" href="classompl_1_1GridB.html#af42768c3fa822baeddc138924ac26d50" title="Return the cell that is at the top of the heap maintaining external cells.">topExternal</a>();
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00117"></a><a class="code" href="classompl_1_1GridB.html#af42768c3fa822baeddc138924ac26d50">00117</a> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* <a class="code" href="classompl_1_1GridB.html#af42768c3fa822baeddc138924ac26d50" title="Return the cell that is at the top of the heap maintaining external cells.">topExternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00118"></a>00118 <span class="keyword"> </span>{
<a name="l00119"></a>00119 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* top = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>*<span class="keyword">></span>(<a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a4288f352550d26811383a45b2a9fb6e7" title="Return the top element. NULL for an empty heap.">top</a>()->data);
<a name="l00120"></a>00120 <span class="keywordflow">return</span> top ? top : <a class="code" href="classompl_1_1GridB.html#a904761417572e6715c13028ba5c3ee13" title="Return the cell that is at the top of the heap maintaining internal cells.">topInternal</a>();
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122
<a name="l00124"></a><a class="code" href="classompl_1_1GridB.html#aacfbc62700a1a97f5312d8ea58ff5ca2">00124</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1GridB.html#aacfbc62700a1a97f5312d8ea58ff5ca2" title="Return the number of internal cells.">countInternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00125"></a>00125 <span class="keyword"> </span>{
<a name="l00126"></a>00126 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12" title="Get the number of elements in the heap.">size</a>();
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00130"></a><a class="code" href="classompl_1_1GridB.html#af91a6687eea882c5f07f7679d94a08b5">00130</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1GridB.html#af91a6687eea882c5f07f7679d94a08b5" title="Return the number of external cells.">countExternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00131"></a>00131 <span class="keyword"> </span>{
<a name="l00132"></a>00132 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12" title="Get the number of elements in the heap.">size</a>();
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00136"></a><a class="code" href="classompl_1_1GridB.html#a63f2125ed08e7f46a199fe1782482a06">00136</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1GridB.html#a63f2125ed08e7f46a199fe1782482a06" title="Return the fraction of external cells.">fracExternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00137"></a>00137 <span class="keyword"> </span>{
<a name="l00138"></a>00138 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a486a10e941494a63e5dea950e90f39bf" title="Check if the heap is empty.">empty</a>() ? 0.0 : (double)(<a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12" title="Get the number of elements in the heap.">size</a>()) / (<span class="keywordtype">double</span>)(<a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12" title="Get the number of elements in the heap.">size</a>() + <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12" title="Get the number of elements in the heap.">size</a>());
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00142"></a><a class="code" href="classompl_1_1GridB.html#a70a922c149cb89db3f0b24f463c41a04">00142</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1GridB.html#a70a922c149cb89db3f0b24f463c41a04" title="Return the fraction of internal cells.">fracInternal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00143"></a>00143 <span class="keyword"> </span>{
<a name="l00144"></a>00144 <span class="keywordflow">return</span> 1.0 - <a class="code" href="classompl_1_1GridB.html#a63f2125ed08e7f46a199fe1782482a06" title="Return the fraction of external cells.">fracExternal</a>();
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146
<a name="l00148"></a><a class="code" href="classompl_1_1GridB.html#aceb50d07f1b2bdb195df8ef2c06999e7">00148</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#aceb50d07f1b2bdb195df8ef2c06999e7" title="Update the position in the heaps for a particular cell.">update</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* cell)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>(cell, <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>);
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (cell->border)
<a name="l00152"></a>00152 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename externalBHeap::Element*>
<a name="l00153"></a>00153 (static_cast<CellX*>(cell)->heapElement));
<a name="l00154"></a>00154 <span class="keywordflow">else</span>
<a name="l00155"></a>00155 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename internalBHeap::Element*>
<a name="l00156"></a>00156 (static_cast<CellX*>(cell)->heapElement));
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158
<a name="l00160"></a><a class="code" href="classompl_1_1GridB.html#ab7ffc08ce1a2547b5adbfad0672d4935">00160</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#ab7ffc08ce1a2547b5adbfad0672d4935" title="Update all cells and reconstruct the heaps.">updateAll</a>(<span class="keywordtype">void</span>)
<a name="l00161"></a>00161 {
<a name="l00162"></a>00162 std::vector< Cell* > cells;
<a name="l00163"></a>00163 this-><a class="code" href="classompl_1_1GridN.html#a1bc2efb9f3533a98381ee2e12da28117" title="Get the set of instantiated cells in the grid.">getCells</a>(cells);
<a name="l00164"></a>00164 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = cells.size() - 1 ; i >= 0 ; --i)
<a name="l00165"></a>00165 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>(cells[i], <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>);
<a name="l00166"></a>00166 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#aa1e483f2aea8cacf7f0ae4587d212eb2" title="Rebuild the heap.">rebuild</a>();
<a name="l00167"></a>00167 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#aa1e483f2aea8cacf7f0ae4587d212eb2" title="Rebuild the heap.">rebuild</a>();
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169
<a name="l00171"></a><a class="code" href="classompl_1_1GridB.html#a13473103dede044e44d731b094ea6515">00171</a> <span class="keyword">virtual</span> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* <a class="code" href="classompl_1_1GridB.html#a13473103dede044e44d731b094ea6515" title="Create a cell but do not add it to the grid; update neighboring cells however.">createCell</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>& coord, <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a> *nbh = NULL)
<a name="l00172"></a>00172 {
<a name="l00173"></a>00173 CellX* cell = <span class="keyword">new</span> CellX();
<a name="l00174"></a>00174 cell->coord = coord;
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a> *list = nbh ? nbh : <span class="keyword">new</span> <a class="code" href="classompl_1_1GridB.html#a8af7231656ec5aac513048369d7388d8" title="The datatype for arrays of cells.">CellArray</a>();
<a name="l00177"></a>00177 this-><a class="code" href="classompl_1_1GridN.html#adfe8ed73a5dc1ce935e9abf51d91682b" title="Get the list of neighbors for a given cell.">neighbors</a>(cell->coord, *list);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keywordflow">for</span> (<span class="keyword">typename</span> CellArray::iterator cl = list->begin() ; cl != list->end() ; ++cl)
<a name="l00180"></a>00180 {
<a name="l00181"></a>00181 CellX* c = <span class="keyword">static_cast<</span>CellX*<span class="keyword">></span>(*cl);
<a name="l00182"></a>00182 <span class="keywordtype">bool</span> wasBorder = c->border;
<a name="l00183"></a>00183 c->neighbors++;
<a name="l00184"></a>00184 <span class="keywordflow">if</span> (c->border && c->neighbors >= <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::interiorCellNeighborsLimit_</a>)
<a name="l00185"></a>00185 c->border = <span class="keyword">false</span>;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>(c, <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>);
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="keywordflow">if</span> (c->border)
<a name="l00190"></a>00190 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename externalBHeap::Element*>(c->heapElement));
<a name="l00191"></a>00191 <span class="keywordflow">else</span>
<a name="l00192"></a>00192 {
<a name="l00193"></a>00193 <span class="keywordflow">if</span> (wasBorder)
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02" title="Remove a specific element.">remove</a>(reinterpret_cast<typename externalBHeap::Element*>(c->heapElement));
<a name="l00196"></a>00196 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274" title="Add a new element.">insert</a>(c);
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 <span class="keywordflow">else</span>
<a name="l00199"></a>00199 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename internalBHeap::Element*>(c->heapElement));
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202
<a name="l00203"></a>00203 cell->neighbors = <a class="code" href="classompl_1_1GridN.html#ab065311737237a3731d41e0cbc4e1b76" title="Compute how many sides of a coordinate touch the boundaries of the grid.">GridN<_T>::numberOfBoundaryDimensions</a>(cell->coord) + list->size();
<a name="l00204"></a>00204 <span class="keywordflow">if</span> (cell->border && cell->neighbors >= <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::interiorCellNeighborsLimit_</a>)
<a name="l00205"></a>00205 cell->border = <span class="keyword">false</span>;
<a name="l00206"></a>00206
<a name="l00207"></a>00207 <span class="keywordflow">if</span> (!nbh)
<a name="l00208"></a>00208 <span class="keyword">delete</span> list;
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>*<span class="keyword">></span>(cell);
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00214"></a><a class="code" href="classompl_1_1GridB.html#a2d028cfdf6233f097ff43fd70591896b">00214</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a2d028cfdf6233f097ff43fd70591896b" title="Add the cell to the grid.">add</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* cell)
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 CellX* ccell = <span class="keyword">static_cast<</span>CellX*<span class="keyword">></span>(cell);
<a name="l00217"></a>00217 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>(ccell, <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>);
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <a class="code" href="classompl_1_1GridB.html#a2d028cfdf6233f097ff43fd70591896b" title="Add the cell to the grid.">GridN<_T>::add</a>(cell);
<a name="l00220"></a>00220
<a name="l00221"></a>00221 <span class="keywordflow">if</span> (cell->border)
<a name="l00222"></a>00222 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274" title="Add a new element.">insert</a>(ccell);
<a name="l00223"></a>00223 <span class="keywordflow">else</span>
<a name="l00224"></a>00224 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274" title="Add a new element.">insert</a>(ccell);
<a name="l00225"></a>00225 }
<a name="l00226"></a>00226
<a name="l00228"></a><a class="code" href="classompl_1_1GridB.html#a35d8377f870c0e03fca9f2839d863165">00228</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <span class="keyword">remove</span>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>* cell)
<a name="l00229"></a>00229 {
<a name="l00230"></a>00230 <span class="keywordflow">if</span> (cell)
<a name="l00231"></a>00231 {
<a name="l00232"></a>00232 <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a> *list = <span class="keyword">new</span> <a class="code" href="classompl_1_1GridB.html#a8af7231656ec5aac513048369d7388d8" title="The datatype for arrays of cells.">CellArray</a>();
<a name="l00233"></a>00233 this-><a class="code" href="classompl_1_1GridN.html#adfe8ed73a5dc1ce935e9abf51d91682b" title="Get the list of neighbors for a given cell.">neighbors</a>(cell->coord, *list);
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="keywordflow">for</span> (<span class="keyword">typename</span> CellArray::iterator cl = list->begin() ; cl != list->end() ; ++cl)
<a name="l00236"></a>00236 {
<a name="l00237"></a>00237 CellX* c = <span class="keyword">static_cast<</span>CellX*<span class="keyword">></span>(*cl);
<a name="l00238"></a>00238 <span class="keywordtype">bool</span> wasBorder = c->border;
<a name="l00239"></a>00239 c->neighbors--;
<a name="l00240"></a>00240 <span class="keywordflow">if</span> (!c->border && c->neighbors < <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::interiorCellNeighborsLimit_</a>)
<a name="l00241"></a>00241 c->border = <span class="keyword">true</span>;
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>(c, <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>);
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="keywordflow">if</span> (c->border)
<a name="l00246"></a>00246 {
<a name="l00247"></a>00247 <span class="keywordflow">if</span> (wasBorder)
<a name="l00248"></a>00248 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename externalBHeap::Element*>(c->heapElement));
<a name="l00249"></a>00249 <span class="keywordflow">else</span>
<a name="l00250"></a>00250 {
<a name="l00251"></a>00251 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02" title="Remove a specific element.">remove</a>(reinterpret_cast<typename internalBHeap::Element*>(c->heapElement));
<a name="l00252"></a>00252 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274" title="Add a new element.">insert</a>(c);
<a name="l00253"></a>00253 }
<a name="l00254"></a>00254 }
<a name="l00255"></a>00255 <span class="keywordflow">else</span>
<a name="l00256"></a>00256 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3" title="Update an element in the heap.">update</a>(reinterpret_cast<typename internalBHeap::Element*>(c->heapElement));
<a name="l00257"></a>00257 }
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="keyword">delete</span> list;
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="keyword">typename</span> <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::CoordHash::iterator</a> pos = <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::hash_</a>.find(&cell->coord);
<a name="l00262"></a>00262 <span class="keywordflow">if</span> (pos != <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::hash_</a>.<a class="code" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7" title="Return the end() iterator for the grid.">end</a>())
<a name="l00263"></a>00263 {
<a name="l00264"></a>00264 <a class="code" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have.">GridN<_T>::hash_</a>.erase(pos);
<a name="l00265"></a>00265 CellX* cx = <span class="keyword">static_cast<</span>CellX*<span class="keyword">></span>(cell);
<a name="l00266"></a>00266 <span class="keywordflow">if</span> (cx->border)
<a name="l00267"></a>00267 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02" title="Remove a specific element.">remove</a>(reinterpret_cast<typename externalBHeap::Element*>(cx->heapElement));
<a name="l00268"></a>00268 <span class="keywordflow">else</span>
<a name="l00269"></a>00269 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02" title="Remove a specific element.">remove</a>(reinterpret_cast<typename internalBHeap::Element*>(cx->heapElement));
<a name="l00270"></a>00270 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00271"></a>00271 }
<a name="l00272"></a>00272 }
<a name="l00273"></a>00273 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00274"></a>00274 }
<a name="l00275"></a>00275
<a name="l00276"></a><a class="code" href="classompl_1_1GridB.html#a99febb9d816320dc306778a4e0f5d0b0">00276</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a99febb9d816320dc306778a4e0f5d0b0" title="Clear all cells in the grid.">clear</a>(<span class="keywordtype">void</span>)
<a name="l00277"></a>00277 {
<a name="l00278"></a>00278 <a class="code" href="classompl_1_1GridB.html#a99febb9d816320dc306778a4e0f5d0b0" title="Clear all cells in the grid.">GridN<_T>::clear</a>();
<a name="l00279"></a>00279 <a class="code" href="classompl_1_1GridB.html#a600b0fb6110d0a9cd0c8a2d65bbec4e8" title="Clear the data from both heaps.">clearHeaps</a>();
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281
<a name="l00282"></a><a class="code" href="classompl_1_1GridB.html#a08fa3fdf1d4a74a1bdab9d99ca5e8925">00282</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a08fa3fdf1d4a74a1bdab9d99ca5e8925" title="Print information about the data in this grid structure.">status</a>(std::ostream &out = std::cout)<span class="keyword"> const</span>
<a name="l00283"></a>00283 <span class="keyword"> </span>{
<a name="l00284"></a>00284 <a class="code" href="classompl_1_1GridB.html#a08fa3fdf1d4a74a1bdab9d99ca5e8925" title="Print information about the data in this grid structure.">GridN<_T>::status</a>(out);
<a name="l00285"></a>00285 out << <a class="code" href="classompl_1_1GridB.html#aacfbc62700a1a97f5312d8ea58ff5ca2" title="Return the number of internal cells.">countInternal</a>() << <span class="stringliteral">" internal cells"</span> << std::endl;
<a name="l00286"></a>00286 out << <a class="code" href="classompl_1_1GridB.html#af91a6687eea882c5f07f7679d94a08b5" title="Return the number of external cells.">countExternal</a>() << <span class="stringliteral">" external cells"</span> << std::endl;
<a name="l00287"></a>00287 }
<a name="l00288"></a>00288
<a name="l00289"></a>00289 <span class="keyword">protected</span>:
<a name="l00290"></a>00290
<a name="l00292"></a><a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f">00292</a> <a class="code" href="classompl_1_1GridB.html#a1023a1ca22bfe01e260ed8c975407aea">EventCellUpdate</a> <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a>;
<a name="l00293"></a>00293
<a name="l00295"></a><a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f">00295</a> <span class="keywordtype">void</span> *<a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a>;
<a name="l00296"></a>00296
<a name="l00298"></a><a class="code" href="classompl_1_1GridB.html#a24ba3c3dfcd76b0f7f79006252e18928">00298</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a24ba3c3dfcd76b0f7f79006252e18928" title="Default no-op update routine for a cell.">noCellUpdate</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Cell</a>*, <span class="keywordtype">void</span>*)
<a name="l00299"></a>00299 {
<a name="l00300"></a>00300 }
<a name="l00301"></a>00301
<a name="l00303"></a><a class="code" href="classompl_1_1GridB.html#a3f5dabc334b16206f08ca6845b750e17">00303</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a3f5dabc334b16206f08ca6845b750e17" title="Set the update procedure for the heaps of internal and external cells.">setupHeaps</a>(<span class="keywordtype">void</span>)
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305 <a class="code" href="classompl_1_1GridB.html#a21a662edc0904ba14495d44b2088669f" title="Pointer to function to be called when a cell needs to be updated.">eventCellUpdate_</a> = &<a class="code" href="classompl_1_1GridB.html#a24ba3c3dfcd76b0f7f79006252e18928" title="Default no-op update routine for a cell.">noCellUpdate</a>;
<a name="l00306"></a>00306 <a class="code" href="classompl_1_1GridB.html#ab229dc7aca157fe152411fe75ad2f73f" title="Data to be passed to function pointer above.">eventCellUpdateData_</a> = NULL;
<a name="l00307"></a>00307 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796" title="Set the event that gets called after insertion.">onAfterInsert</a>(&<a class="code" href="classompl_1_1GridB.html#a5d5d287741c00a9dba43113064f867d1" title="Routine used internally for keeping track of binary heap elements for internal cells.">setHeapElementI</a>, NULL);
<a name="l00308"></a>00308 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796" title="Set the event that gets called after insertion.">onAfterInsert</a>(&<a class="code" href="classompl_1_1GridB.html#ae2fb49e37b99d8f9e224c17577f5c622" title="Routine used internally for keeping track of binary heap elements for external cells.">setHeapElementE</a>, NULL);
<a name="l00309"></a>00309 }
<a name="l00310"></a>00310
<a name="l00312"></a><a class="code" href="classompl_1_1GridB.html#a600b0fb6110d0a9cd0c8a2d65bbec4e8">00312</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a600b0fb6110d0a9cd0c8a2d65bbec4e8" title="Clear the data from both heaps.">clearHeaps</a>(<span class="keywordtype">void</span>)
<a name="l00313"></a>00313 {
<a name="l00314"></a>00314 <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a318edd8b65126de610e0f11138f8c147" title="Clear the heap.">clear</a>();
<a name="l00315"></a>00315 <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>.<a class="code" href="classompl_1_1BinaryHeap.html#a318edd8b65126de610e0f11138f8c147" title="Clear the heap.">clear</a>();
<a name="l00316"></a>00316 }
<a name="l00317"></a>00317
<a name="l00319"></a><a class="code" href="structompl_1_1GridB_1_1LessThanInternalCell.html">00319</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1GridB_1_1LessThanInternalCell.html" title="Define order for internal cells.">LessThanInternalCell</a>
<a name="l00320"></a>00320 {
<a name="l00321"></a>00321 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> CellX* <span class="keyword">const</span> a, <span class="keyword">const</span> CellX* <span class="keyword">const</span> b)<span class="keyword"> const</span>
<a name="l00322"></a>00322 <span class="keyword"> </span>{
<a name="l00323"></a>00323 <span class="keywordflow">return</span> lt_(a->data, b->data);
<a name="l00324"></a>00324 }
<a name="l00325"></a>00325
<a name="l00326"></a>00326 <span class="keyword">private</span>:
<a name="l00327"></a>00327 LessThanInternal lt_;
<a name="l00328"></a>00328 };
<a name="l00329"></a>00329
<a name="l00331"></a><a class="code" href="structompl_1_1GridB_1_1LessThanExternalCell.html">00331</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1GridB_1_1LessThanExternalCell.html" title="Define order for external cells.">LessThanExternalCell</a>
<a name="l00332"></a>00332 {
<a name="l00333"></a>00333 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> CellX* <span class="keyword">const</span> a, <span class="keyword">const</span> CellX* <span class="keyword">const</span> b)<span class="keyword"> const</span>
<a name="l00334"></a>00334 <span class="keyword"> </span>{
<a name="l00335"></a>00335 <span class="keywordflow">return</span> lt_(a->data, b->data);
<a name="l00336"></a>00336 }
<a name="l00337"></a>00337 <span class="keyword">private</span>:
<a name="l00338"></a>00338 LessThanExternal lt_;
<a name="l00339"></a>00339 };
<a name="l00340"></a>00340
<a name="l00342"></a><a class="code" href="classompl_1_1GridB.html#abf7cedc47aa3e2b2cb87986fcdf9ed44">00342</a> <span class="keyword">typedef</span> <a class="code" href="classompl_1_1BinaryHeap.html">BinaryHeap< CellX*, LessThanInternalCell ></a> <a class="code" href="classompl_1_1GridB.html#abf7cedc47aa3e2b2cb87986fcdf9ed44" title="Datatype for a heap of cells containing interior cells.">internalBHeap</a>;
<a name="l00343"></a>00343
<a name="l00345"></a><a class="code" href="classompl_1_1GridB.html#a01bc4d75a25963312eecd700ed643399">00345</a> <span class="keyword">typedef</span> <a class="code" href="classompl_1_1BinaryHeap.html">BinaryHeap< CellX*, LessThanExternalCell ></a> <a class="code" href="classompl_1_1GridB.html#a01bc4d75a25963312eecd700ed643399" title="Datatype for a heap of cells containing exterior cells.">externalBHeap</a>;
<a name="l00346"></a>00346
<a name="l00348"></a><a class="code" href="classompl_1_1GridB.html#a5d5d287741c00a9dba43113064f867d1">00348</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#a5d5d287741c00a9dba43113064f867d1" title="Routine used internally for keeping track of binary heap elements for internal cells.">setHeapElementI</a>(<span class="keyword">typename</span> internalBHeap::Element* element, <span class="keywordtype">void</span> *)
<a name="l00349"></a>00349 {
<a name="l00350"></a>00350 element->data->heapElement = <span class="keyword">reinterpret_cast<</span><span class="keywordtype">void</span>*<span class="keyword">></span>(element);
<a name="l00351"></a>00351 }
<a name="l00352"></a>00352
<a name="l00354"></a><a class="code" href="classompl_1_1GridB.html#ae2fb49e37b99d8f9e224c17577f5c622">00354</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1GridB.html#ae2fb49e37b99d8f9e224c17577f5c622" title="Routine used internally for keeping track of binary heap elements for external cells.">setHeapElementE</a>(<span class="keyword">typename</span> externalBHeap::Element* element, <span class="keywordtype">void</span> *)
<a name="l00355"></a>00355 {
<a name="l00356"></a>00356 element->data->heapElement = <span class="keyword">reinterpret_cast<</span><span class="keywordtype">void</span>*<span class="keyword">></span>(element);
<a name="l00357"></a>00357 }
<a name="l00358"></a>00358
<a name="l00360"></a><a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665">00360</a> <a class="code" href="classompl_1_1BinaryHeap.html">internalBHeap</a> <a class="code" href="classompl_1_1GridB.html#a00fa01d1103ced09fb7ee3ebee187665" title="The heap of interior cells.">internal_</a>;
<a name="l00361"></a>00361
<a name="l00363"></a><a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516">00363</a> <a class="code" href="classompl_1_1BinaryHeap.html">externalBHeap</a> <a class="code" href="classompl_1_1GridB.html#afede0d811f4f9b53abc0f1945b871516" title="The heap of external cells.">external_</a>;
<a name="l00364"></a>00364 };
<a name="l00365"></a>00365
<a name="l00366"></a>00366 }
<a name="l00367"></a>00367
<a name="l00368"></a>00368 <span class="preprocessor">#endif</span>
</pre></div></div>
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