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<div class="title">Grid.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) 2010, Rice University</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 Rice University 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_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_GRID_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <vector></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <iostream></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <cstdlib></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <boost/unordered_map.hpp></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <algorithm></span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048
<a name="l00050"></a>00050 <span class="keyword">template</span> <<span class="keyword">typename</span> _T>
<a name="l00051"></a><a class="code" href="classompl_1_1Grid.html">00051</a> <span class="keyword">class </span><a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid</a>
<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_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">00056</a> <span class="keyword">typedef</span> std::vector<int> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>;
<a name="l00057"></a>00057
<a name="l00059"></a><a class="code" href="structompl_1_1Grid_1_1Cell.html">00059</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Cell</a>
<a name="l00060"></a>00060 {
<a name="l00062"></a><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366">00062</a> _T <a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>;
<a name="l00063"></a>00063
<a name="l00065"></a><a class="code" href="structompl_1_1Grid_1_1Cell.html#a3c410d94a7026951a4eb7e6966fd6229">00065</a> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a> <a class="code" href="structompl_1_1Grid_1_1Cell.html#a3c410d94a7026951a4eb7e6966fd6229" title="The coordinate of the cell.">coord</a>;
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Cell</a>(<span class="keywordtype">void</span>)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keyword">virtual</span> ~<a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Cell</a>(<span class="keywordtype">void</span>)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 };
<a name="l00075"></a>00075
<a name="l00077"></a><a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">00077</a> <span class="keyword">typedef</span> std::vector<Cell*> <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a>;
<a name="l00078"></a>00078
<a name="l00079"></a>00079
<a name="l00081"></a>00081 <span class="keyword">explicit</span>
<a name="l00082"></a><a class="code" href="classompl_1_1Grid.html#aa11294d2cb47b1e55bacd101b131d3c1">00082</a> <a class="code" href="classompl_1_1Grid.html#aa11294d2cb47b1e55bacd101b131d3c1" title="The constructor takes the dimension of the grid as argument.">Grid</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a>(dimension);
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00088"></a><a class="code" href="classompl_1_1Grid.html#a4dafe5d3e463b021ec22bcf89155322a">00088</a> <span class="keyword">virtual</span> <a class="code" href="classompl_1_1Grid.html#a4dafe5d3e463b021ec22bcf89155322a" title="Destructor.">~Grid</a>(<span class="keywordtype">void</span>)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <a class="code" href="classompl_1_1Grid.html#a9f33efa75e00c9690920cb57b2035c17" title="Free the allocated memory.">freeMemory</a>();
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00094"></a><a class="code" href="classompl_1_1Grid.html#aeb890199fb3e64669a48ab6c509395c5">00094</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#aeb890199fb3e64669a48ab6c509395c5" title="Clear all cells in the grid.">clear</a>(<span class="keywordtype">void</span>)
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <a class="code" href="classompl_1_1Grid.html#a9f33efa75e00c9690920cb57b2035c17" title="Free the allocated memory.">freeMemory</a>();
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00100"></a><a class="code" href="classompl_1_1Grid.html#a94b92e449324dedc4629ba6c8d582a01">00100</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1Grid.html#a94b92e449324dedc4629ba6c8d582a01" title="Return the dimension of the grid.">getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00101"></a>00101 <span class="keyword"> </span>{
<a name="l00102"></a>00102 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a>;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00107"></a><a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">00107</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8" title="Check if the grid is empty.">empty</a>())
<a name="l00110"></a>00110 <span class="keywordflow">throw</span>;
<a name="l00111"></a>00111 <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a> = dimension;
<a name="l00112"></a>00112 <a class="code" href="classompl_1_1Grid.html#a826614263d30ffcc37924cecfef25471" title="The maximum number of neighbors a cell can have (2 * dimension)">maxNeighbors_</a> = 2 * <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a>;
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00116"></a><a class="code" href="classompl_1_1Grid.html#ac6f884d8fc3c401a3610d7e5659e16b9">00116</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1Grid.html#ac6f884d8fc3c401a3610d7e5659e16b9" title="Check if a cell exists at the specified coordinate.">has</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)<span class="keyword"> const</span>
<a name="l00117"></a>00117 <span class="keyword"> </span>{
<a name="l00118"></a>00118 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</a>(coord) != NULL;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00122"></a><a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54">00122</a> Cell* <a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</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)<span class="keyword"> const</span>
<a name="l00123"></a>00123 <span class="keyword"> </span>{
<a name="l00124"></a>00124 <a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> pos = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.find(const_cast<Coord*>(&coord));
<a name="l00125"></a>00125 Cell *c = (pos != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end()) ? pos->second : NULL;
<a name="l00126"></a>00126 <span class="keywordflow">return</span> c;
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00130"></a><a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2">00130</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(<span class="keyword">const</span> Cell* cell, <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a>& list)<span class="keyword"> const</span>
<a name="l00131"></a>00131 <span class="keyword"> </span>{
<a name="l00132"></a>00132 <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a> test = cell->coord;
<a name="l00133"></a>00133 <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(test, list);
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00137"></a><a class="code" href="classompl_1_1Grid.html#a75d952cdcfbf49f084d7ec1434170fbf">00137</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</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>& list)<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword"> </span>{
<a name="l00139"></a>00139 <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a> test = coord;
<a name="l00140"></a>00140 <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(test, list);
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142
<a name="l00144"></a><a class="code" href="classompl_1_1Grid.html#a6a9e29f3d8bb2d337d36f0ba8efb0d45">00144</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(<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>& list)<span class="keyword"> const</span>
<a name="l00145"></a>00145 <span class="keyword"> </span>{
<a name="l00146"></a>00146 list.reserve(list.size() + <a class="code" href="classompl_1_1Grid.html#a826614263d30ffcc37924cecfef25471" title="The maximum number of neighbors a cell can have (2 * dimension)">maxNeighbors_</a>);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a> - 1 ; i >= 0 ; --i)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 coord[i]--;
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> pos = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.find(&coord);
<a name="l00153"></a>00153 Cell *cell = (pos != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end()) ? pos->second : NULL;
<a name="l00154"></a>00154
<a name="l00155"></a>00155 if (cell)
<a name="l00156"></a>00156 list.push_back(cell);
<a name="l00157"></a>00157 coord[i] += 2;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 pos = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.find(&coord);
<a name="l00160"></a>00160 cell = (pos != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end()) ? pos->second : NULL;
<a name="l00161"></a>00161
<a name="l00162"></a>00162 if (cell)
<a name="l00163"></a>00163 list.push_back(cell);
<a name="l00164"></a>00164 coord[i]--;
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167
<a name="l00169"></a><a class="code" href="classompl_1_1Grid.html#af399d179e23adb274877aee03ea9aaae">00169</a> std::vector< std::vector<Cell*> > <a class="code" href="classompl_1_1Grid.html#af399d179e23adb274877aee03ea9aaae" title="Get the connected components formed by the cells in this grid (based on neighboring relation)...">components</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00170"></a>00170 <span class="keyword"> </span>{
<a name="l00171"></a>00171 <span class="keyword">typedef</span> boost::unordered_map<Coord*, int, HashFunCoordPtr, EqualCoordPtr> ComponentHash;
<a name="l00172"></a>00172 <span class="keyword">typedef</span> <span class="keyword">typename</span> ComponentHash::iterator CHit;
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="keywordtype">int</span> <a class="code" href="classompl_1_1Grid.html#af399d179e23adb274877aee03ea9aaae" title="Get the connected components formed by the cells in this grid (based on neighboring relation)...">components</a> = 0;
<a name="l00175"></a>00175 ComponentHash ch;
<a name="l00176"></a>00176 std::vector< std::vector<Cell*> > res;
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> i = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.begin() ; i != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end() ; ++i)
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180 Cell *c0 = i->second;
<a name="l00181"></a>00181 CHit pos = ch.find(&c0->coord);
<a name="l00182"></a>00182 <span class="keywordtype">int</span> comp = (pos != ch.end()) ? pos->second : -1;
<a name="l00183"></a>00183
<a name="l00184"></a>00184 if (comp < 0)
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186 res.resize(res.size() + 1);
<a name="l00187"></a>00187 std::vector<Cell*> &q = res.back();
<a name="l00188"></a>00188 q.push_back(c0);
<a name="l00189"></a>00189 std::size_t index = 0;
<a name="l00190"></a>00190 <span class="keywordflow">while</span> (index < q.size())
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 Cell *c = q[index++];
<a name="l00193"></a>00193 pos = ch.find(&c->coord);
<a name="l00194"></a>00194 comp = (pos != ch.end()) ? pos->second : -1;
<a name="l00195"></a>00195
<a name="l00196"></a>00196 if (comp < 0)
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198 ch.insert(std::make_pair(&c->coord, components));
<a name="l00199"></a>00199 std::vector< Cell* > nbh;
<a name="l00200"></a>00200 <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(c, nbh);
<a name="l00201"></a>00201 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < nbh.size() ; ++j)
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 pos = ch.find(&nbh[j]->coord);
<a name="l00204"></a>00204 comp = (pos != ch.end()) ? pos->second : -1;
<a name="l00205"></a>00205 if (comp < 0)
<a name="l00206"></a>00206 q.push_back(nbh[j]);
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208 }
<a name="l00209"></a>00209 <span class="keywordflow">else</span>
<a name="l00210"></a>00210 {
<a name="l00211"></a>00211 --index;
<a name="l00212"></a>00212 q.erase(q.begin() + index);
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 ++<a class="code" href="classompl_1_1Grid.html#af399d179e23adb274877aee03ea9aaae" title="Get the connected components formed by the cells in this grid (based on neighboring relation)...">components</a>;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 std::sort(res.begin(), res.end(), SortComponents());
<a name="l00219"></a>00219 <span class="keywordflow">return</span> res;
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00226"></a><a class="code" href="classompl_1_1Grid.html#ad105860f5ce20c533281104b95f3d402">00226</a> <span class="keyword">virtual</span> Cell* <a class="code" href="classompl_1_1Grid.html#ad105860f5ce20c533281104b95f3d402">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="l00227"></a>00227 {
<a name="l00228"></a>00228 Cell *cell = <span class="keyword">new</span> Cell();
<a name="l00229"></a>00229 cell->coord = coord;
<a name="l00230"></a>00230 <span class="keywordflow">if</span> (nbh)
<a name="l00231"></a>00231 <a class="code" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2" title="Get the list of neighbors for a given cell.">neighbors</a>(cell->coord, *nbh);
<a name="l00232"></a>00232 <span class="keywordflow">return</span> cell;
<a name="l00233"></a>00233 }
<a name="l00234"></a>00234
<a name="l00237"></a><a class="code" href="classompl_1_1Grid.html#a72386f9ffd43e98d25aa38b224541564">00237</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <span class="keyword">remove</span>(Cell *cell)
<a name="l00238"></a>00238 {
<a name="l00239"></a>00239 <span class="keywordflow">if</span> (cell)
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241 <span class="keyword">typename</span> CoordHash::iterator pos = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.find(&cell->coord);
<a name="l00242"></a>00242 <span class="keywordflow">if</span> (pos != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end())
<a name="l00243"></a>00243 {
<a name="l00244"></a>00244 <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.erase(pos);
<a name="l00245"></a>00245 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00246"></a>00246 }
<a name="l00247"></a>00247 }
<a name="l00248"></a>00248 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00249"></a>00249 }
<a name="l00250"></a>00250
<a name="l00252"></a><a class="code" href="classompl_1_1Grid.html#ac72fa046a57332c7627126e8d84fb1dc">00252</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#ac72fa046a57332c7627126e8d84fb1dc" title="Add an instantiated cell to the grid.">add</a>(Cell *cell)
<a name="l00253"></a>00253 {
<a name="l00254"></a>00254 <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.insert(std::make_pair(&cell->coord, cell));
<a name="l00255"></a>00255 }
<a name="l00256"></a>00256
<a name="l00258"></a><a class="code" href="classompl_1_1Grid.html#a5876a2ff7b1092fd00fc58fee9ad1829">00258</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#a5876a2ff7b1092fd00fc58fee9ad1829" title="Clear the memory occupied by a cell; do not call this function unless remove() was called first...">destroyCell</a>(Cell *cell)<span class="keyword"> const</span>
<a name="l00259"></a>00259 <span class="keyword"> </span>{
<a name="l00260"></a>00260 <span class="keyword">delete</span> cell;
<a name="l00261"></a>00261 }
<a name="l00262"></a>00262
<a name="l00264"></a><a class="code" href="classompl_1_1Grid.html#afe4fa2e9e3b6db8d57c69daaeb1be0b7">00264</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#afe4fa2e9e3b6db8d57c69daaeb1be0b7" title="Get the data stored in the cells we are aware of.">getContent</a>(std::vector<_T> &content)<span class="keyword"> const</span>
<a name="l00265"></a>00265 <span class="keyword"> </span>{
<a name="l00266"></a>00266 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> i = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.begin() ; i != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end() ; ++i)
<a name="l00267"></a>00267 content.push_back(i->second->data);
<a name="l00268"></a>00268 }
<a name="l00269"></a>00269
<a name="l00271"></a><a class="code" href="classompl_1_1Grid.html#a0864cd4aae571bd30003b7ae82dccbd5">00271</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#a0864cd4aae571bd30003b7ae82dccbd5" title="Get the set of coordinates where there are cells.">getCoordinates</a>(std::vector<Coord*> &coords)<span class="keyword"> const</span>
<a name="l00272"></a>00272 <span class="keyword"> </span>{
<a name="l00273"></a>00273 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> i = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.begin() ; i != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end() ; ++i)
<a name="l00274"></a>00274 coords.push_back(i->first);
<a name="l00275"></a>00275 }
<a name="l00276"></a>00276
<a name="l00278"></a><a class="code" href="classompl_1_1Grid.html#a5606423660b0f121ad2f227030085a9c">00278</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#a5606423660b0f121ad2f227030085a9c" title="Get the set of instantiated cells in the grid.">getCells</a>(<a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a> &cells)<span class="keyword"> const</span>
<a name="l00279"></a>00279 <span class="keyword"> </span>{
<a name="l00280"></a>00280 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> i = <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.begin() ; i != <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end() ; ++i)
<a name="l00281"></a>00281 cells.push_back(i->second);
<a name="l00282"></a>00282 }
<a name="l00283"></a>00283
<a name="l00285"></a><a class="code" href="classompl_1_1Grid.html#ab586680ae4fb05376c91b114d95e1b7b">00285</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#ab586680ae4fb05376c91b114d95e1b7b" title="Print the value of a coordinate to a stream.">printCoord</a>(<a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>& coord, std::ostream &out = std::cout)<span class="keyword"> const</span>
<a name="l00286"></a>00286 <span class="keyword"> </span>{
<a name="l00287"></a>00287 out << <span class="stringliteral">"[ "</span>;
<a name="l00288"></a>00288 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a> ; ++i)
<a name="l00289"></a>00289 out << coord[i] << <span class="stringliteral">" "</span>;
<a name="l00290"></a>00290 out << <span class="stringliteral">"]"</span> << std::endl;
<a name="l00291"></a>00291 }
<a name="l00292"></a>00292
<a name="l00294"></a><a class="code" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8">00294</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8" title="Check if the grid is empty.">empty</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00295"></a>00295 <span class="keyword"> </span>{
<a name="l00296"></a>00296 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.empty();
<a name="l00297"></a>00297 }
<a name="l00298"></a>00298
<a name="l00300"></a><a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa">00300</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00301"></a>00301 <span class="keyword"> </span>{
<a name="l00302"></a>00302 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.size();
<a name="l00303"></a>00303 }
<a name="l00304"></a>00304
<a name="l00306"></a><a class="code" href="classompl_1_1Grid.html#ac38c23cf1a7f5dea01f49e325ad53371">00306</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#ac38c23cf1a7f5dea01f49e325ad53371" title="Print information about the data in this grid structure.">status</a>(std::ostream &out = std::cout)<span class="keyword"> const</span>
<a name="l00307"></a>00307 <span class="keyword"> </span>{
<a name="l00308"></a>00308 out << <a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>() << <span class="stringliteral">" total cells "</span> << std::endl;
<a name="l00309"></a>00309 <span class="keyword">const</span> std::vector< std::vector<Cell*> > &comp = <a class="code" href="classompl_1_1Grid.html#af399d179e23adb274877aee03ea9aaae" title="Get the connected components formed by the cells in this grid (based on neighboring relation)...">components</a>();
<a name="l00310"></a>00310 out << comp.size() << <span class="stringliteral">" connected components: "</span>;
<a name="l00311"></a>00311 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < comp.size() ; ++i)
<a name="l00312"></a>00312 out << comp[i].<a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>() << <span class="stringliteral">" "</span>;
<a name="l00313"></a>00313 out << std::endl;
<a name="l00314"></a>00314 }
<a name="l00315"></a>00315
<a name="l00316"></a>00316 <span class="keyword">protected</span>:
<a name="l00317"></a>00317
<a name="l00319"></a><a class="code" href="classompl_1_1Grid.html#a9f33efa75e00c9690920cb57b2035c17">00319</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Grid.html#a9f33efa75e00c9690920cb57b2035c17" title="Free the allocated memory.">freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00320"></a>00320 {
<a name="l00321"></a>00321 <a class="code" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f" title="The datatype for arrays of cells.">CellArray</a> content;
<a name="l00322"></a>00322 <a class="code" href="classompl_1_1Grid.html#a5606423660b0f121ad2f227030085a9c" title="Get the set of instantiated cells in the grid.">getCells</a>(content);
<a name="l00323"></a>00323 <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.clear();
<a name="l00324"></a>00324
<a name="l00325"></a>00325 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < content.size() ; ++i)
<a name="l00326"></a>00326 <span class="keyword">delete</span> content[i];
<a name="l00327"></a>00327 }
<a name="l00328"></a>00328
<a name="l00330"></a><a class="code" href="structompl_1_1Grid_1_1HashFunCoordPtr.html">00330</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1Grid_1_1HashFunCoordPtr.html" title="Hash function for coordinates.">HashFunCoordPtr</a>
<a name="l00331"></a>00331 {
<a name="l00332"></a>00332 std::size_t operator()(<span class="keyword">const</span> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>* <span class="keyword">const</span> s)<span class="keyword"> const</span>
<a name="l00333"></a>00333 <span class="keyword"> </span>{
<a name="l00334"></a>00334 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> h = 0;
<a name="l00335"></a>00335 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = s->size() - 1; i >= 0; --i)
<a name="l00336"></a>00336 {
<a name="l00337"></a>00337 <span class="keywordtype">int</span> high = h & 0xf8000000;
<a name="l00338"></a>00338 h = h << 5;
<a name="l00339"></a>00339 h = h ^ (high >> 27);
<a name="l00340"></a>00340 h = h ^ s->at(i);
<a name="l00341"></a>00341 }
<a name="l00342"></a>00342 <span class="keywordflow">return</span> (std::size_t) h;
<a name="l00343"></a>00343 }
<a name="l00344"></a>00344 };
<a name="l00345"></a>00345
<a name="l00346"></a>00346
<a name="l00348"></a><a class="code" href="structompl_1_1Grid_1_1EqualCoordPtr.html">00348</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1Grid_1_1EqualCoordPtr.html" title="Equality operator for coordinate pointers.">EqualCoordPtr</a>
<a name="l00349"></a>00349 {
<a name="l00350"></a>00350 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>* <span class="keyword">const</span> c1, <span class="keyword">const</span> <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Coord</a>* <span class="keyword">const</span> c2)<span class="keyword"> const</span>
<a name="l00351"></a>00351 <span class="keyword"> </span>{
<a name="l00352"></a>00352 <span class="keywordflow">return</span> *c1 == *c2;
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354 };
<a name="l00355"></a>00355
<a name="l00357"></a><a class="code" href="classompl_1_1Grid.html#a979747c1db17535f9b4f90d4b9a84b66">00357</a> <span class="keyword">typedef</span> boost::unordered_map<Coord*, Cell*, HashFunCoordPtr, EqualCoordPtr> <a class="code" href="classompl_1_1Grid.html#a979747c1db17535f9b4f90d4b9a84b66" title="Define the datatype for the used hash structure.">CoordHash</a>;
<a name="l00358"></a>00358
<a name="l00360"></a><a class="code" href="structompl_1_1Grid_1_1SortComponents.html">00360</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1Grid_1_1SortComponents.html" title="Helper to sort components by size.">SortComponents</a>
<a name="l00361"></a>00361 {
<a name="l00362"></a>00362 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> std::vector<Cell*> &a, <span class="keyword">const</span> std::vector<Cell*> &b)<span class="keyword"> const</span>
<a name="l00363"></a>00363 <span class="keyword"> </span>{
<a name="l00364"></a>00364 <span class="keywordflow">return</span> a.size() > b.size();
<a name="l00365"></a>00365 }
<a name="l00366"></a>00366 };
<a name="l00367"></a>00367
<a name="l00368"></a>00368 <span class="keyword">public</span>:
<a name="l00369"></a>00369
<a name="l00371"></a><a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9">00371</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> CoordHash::const_iterator <a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a>;
<a name="l00372"></a>00372
<a name="l00374"></a><a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c">00374</a> <a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> <a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00375"></a>00375 <span class="keyword"> </span>{
<a name="l00376"></a>00376 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.begin();
<a name="l00377"></a>00377 }
<a name="l00378"></a>00378
<a name="l00380"></a><a class="code" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7">00380</a> <a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">iterator</a> <a class="code" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7" title="Return the end() iterator for the grid.">end</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00381"></a>00381 <span class="keyword"> </span>{
<a name="l00382"></a>00382 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>.end();
<a name="l00383"></a>00383 }
<a name="l00384"></a>00384
<a name="l00385"></a>00385 <span class="keyword">protected</span>:
<a name="l00386"></a>00386
<a name="l00388"></a><a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1">00388</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1" title="The dimension of the grid.">dimension_</a>;
<a name="l00389"></a>00389
<a name="l00391"></a><a class="code" href="classompl_1_1Grid.html#a826614263d30ffcc37924cecfef25471">00391</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1Grid.html#a826614263d30ffcc37924cecfef25471" title="The maximum number of neighbors a cell can have (2 * dimension)">maxNeighbors_</a>;
<a name="l00392"></a>00392
<a name="l00394"></a><a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d">00394</a> <a class="code" href="classompl_1_1Grid.html#a979747c1db17535f9b4f90d4b9a84b66" title="Define the datatype for the used hash structure.">CoordHash</a> <a class="code" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d" title="The hash holding the cells.">hash_</a>;
<a name="l00395"></a>00395 };
<a name="l00396"></a>00396 }
<a name="l00397"></a>00397
<a name="l00398"></a>00398 <span class="preprocessor">#endif</span>
</pre></div></div>
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