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<div class="title">PDF.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) 2011, 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: Matt Maly */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_PDF_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_PDF_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <ostream></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <vector></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>ompl
<a name="l00045"></a>00045 {
<a name="l00047"></a>00047 <span class="keyword">template</span> <<span class="keyword">typename</span> _T>
<a name="l00048"></a><a class="code" href="classompl_1_1PDF.html">00048</a> <span class="keyword">class </span><a class="code" href="classompl_1_1PDF.html" title="A container that supports probabilistic sampling over weighted data.">PDF</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">public</span>:
<a name="l00051"></a>00051
<a name="l00053"></a><a class="code" href="classompl_1_1PDF_1_1Element.html">00053</a> <span class="keyword">class </span><a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classompl_1_1PDF.html" title="A container that supports probabilistic sampling over weighted data.">PDF</a>;
<a name="l00056"></a>00056 <span class="keyword">public</span>:
<a name="l00058"></a><a class="code" href="classompl_1_1PDF_1_1Element.html#a74bab4cc2921bfdd11012d34fca1d6f6">00058</a> _T <a class="code" href="classompl_1_1PDF_1_1Element.html#a74bab4cc2921bfdd11012d34fca1d6f6" title="The data contained in this Element.">data_</a>;
<a name="l00059"></a>00059 <span class="keyword">private</span>:
<a name="l00060"></a>00060 <a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>(<span class="keyword">const</span> _T& d, <span class="keyword">const</span> std::size_t i) : <a class="code" href="classompl_1_1PDF_1_1Element.html#a74bab4cc2921bfdd11012d34fca1d6f6" title="The data contained in this Element.">data_</a>(d), index_(i)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 std::size_t index_;
<a name="l00064"></a>00064 };
<a name="l00065"></a>00065
<a name="l00067"></a><a class="code" href="classompl_1_1PDF.html#ab349a15256996845b0fdb6c52df6f23f">00067</a> <a class="code" href="classompl_1_1PDF.html#ab349a15256996845b0fdb6c52df6f23f" title="Constructs an empty PDF.">PDF</a>(<span class="keywordtype">void</span>)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00072"></a><a class="code" href="classompl_1_1PDF.html#a5b46002df3734b53e8340a031ec081cc">00072</a> <a class="code" href="classompl_1_1PDF.html#ab349a15256996845b0fdb6c52df6f23f" title="Constructs an empty PDF.">PDF</a>(<span class="keyword">const</span> std::vector<_T>& d, <span class="keyword">const</span> std::vector<double>& weights)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="keywordflow">if</span> (d.size() != weights.size())
<a name="l00075"></a>00075 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Data vector and weight vector must be of equal length"</span>);
<a name="l00076"></a>00076 <span class="comment">//by default, reserve space for 512 elements</span>
<a name="l00077"></a>00077 data_.reserve(512u);
<a name="l00078"></a>00078 <span class="comment">//n elements require at most log2(n)+2 rows of the tree</span>
<a name="l00079"></a>00079 tree_.reserve(11u);
<a name="l00080"></a>00080 <span class="keywordflow">for</span> (std::size_t i = 0; i < d.size(); ++i)
<a name="l00081"></a>00081 <a class="code" href="classompl_1_1PDF.html#af4083c1c6e1b2e2579cc8e893446cfac" title="Adds a piece of data with a given weight to the PDF. Returns a corresponding Element, which can be used to subsequently update or remove the data from the PDF.">add</a>(d[i], weights[i]);
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00085"></a><a class="code" href="classompl_1_1PDF.html#a203b6148963d65e0074c482ea7213f01">00085</a> <a class="code" href="classompl_1_1PDF.html#a203b6148963d65e0074c482ea7213f01" title="Destructor. Clears allocated memory.">~PDF</a>(<span class="keywordtype">void</span>)
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <a class="code" href="classompl_1_1PDF.html#a21f41fc995544c874940fbeb06537665" title="Clears the PDF.">clear</a>();
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00091"></a><a class="code" href="classompl_1_1PDF.html#af4083c1c6e1b2e2579cc8e893446cfac">00091</a> <a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>& <a class="code" href="classompl_1_1PDF.html#af4083c1c6e1b2e2579cc8e893446cfac" title="Adds a piece of data with a given weight to the PDF. Returns a corresponding Element, which can be used to subsequently update or remove the data from the PDF.">add</a>(<span class="keyword">const</span> _T& d, <span class="keyword">const</span> <span class="keywordtype">double</span> w)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <span class="keywordflow">if</span> (w < 0)
<a name="l00094"></a>00094 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Weight argument must be a nonnegative value"</span>);
<a name="l00095"></a>00095 <a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>* elem = <span class="keyword">new</span> <a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>(d, data_.size());
<a name="l00096"></a>00096 data_.push_back(elem);
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (data_.size() == 1)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 std::vector<double> r(1, w);
<a name="l00100"></a>00100 tree_.push_back(r);
<a name="l00101"></a>00101 <span class="keywordflow">return</span> *elem;
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 tree_.front().push_back(w);
<a name="l00104"></a>00104 <span class="keywordflow">for</span> (std::size_t i = 1; i < tree_.size(); ++i)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 <span class="keywordflow">if</span> (tree_[i-1].<a class="code" href="classompl_1_1PDF.html#a8afa9f2a1f14253ada1c8d61d4aef0fe" title="Returns the number of elements in the PDF.">size</a>() % 2 == 1)
<a name="l00107"></a>00107 tree_[i].push_back(w);
<a name="l00108"></a>00108 <span class="keywordflow">else</span>
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 <span class="keywordflow">while</span> (i < tree_.size())
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 tree_[i].back() += w;
<a name="l00113"></a>00113 ++i;
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 <span class="keywordflow">return</span> *elem;
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 <span class="comment">//If we've made it here, then we need to add a new head to the tree.</span>
<a name="l00119"></a>00119 std::vector<double> head(1, tree_.back()[0] + tree_.back()[1]);
<a name="l00120"></a>00120 tree_.push_back(head);
<a name="l00121"></a>00121 <span class="keywordflow">return</span> *elem;
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00126"></a><a class="code" href="classompl_1_1PDF.html#a3f8ee992fa9240d15f10c5782166e6c3">00126</a> <span class="keyword">const</span> _T& <a class="code" href="classompl_1_1PDF.html#a3f8ee992fa9240d15f10c5782166e6c3" title="Returns a piece of data from the PDF according to the input sampling value, which must be between 0 a...">sample</a>(<span class="keywordtype">double</span> r)<span class="keyword"> const</span>
<a name="l00127"></a>00127 <span class="keyword"> </span>{
<a name="l00128"></a>00128 <span class="keywordflow">if</span> (data_.empty())
<a name="l00129"></a>00129 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Cannot sample from an empty PDF"</span>);
<a name="l00130"></a>00130 <span class="keywordflow">if</span> (r < 0 || r > 1)
<a name="l00131"></a>00131 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Sampling value must be between 0 and 1"</span>);
<a name="l00132"></a>00132 std::size_t row = tree_.size() - 1;
<a name="l00133"></a>00133 r *= tree_[row].front();
<a name="l00134"></a>00134 std::size_t node = 0;
<a name="l00135"></a>00135 <span class="keywordflow">while</span> (row != 0)
<a name="l00136"></a>00136 {
<a name="l00137"></a>00137 --row;
<a name="l00138"></a>00138 node <<= 1;
<a name="l00139"></a>00139 <span class="keywordflow">if</span> (r > tree_[row][node])
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 r -= tree_[row][node];
<a name="l00142"></a>00142 ++node;
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145 <span class="keywordflow">return</span> data_[node]->data_;
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00149"></a><a class="code" href="classompl_1_1PDF.html#a66cdb40234cb18c881af2c6e196ae8ae">00149</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1PDF.html#a66cdb40234cb18c881af2c6e196ae8ae" title="Updates the data in the given Element with a new weight value.">update</a>(<a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>& elem, <span class="keyword">const</span> <span class="keywordtype">double</span> w)
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151 std::size_t index = elem.index_;
<a name="l00152"></a>00152 <span class="keywordflow">if</span> (index >= data_.size())
<a name="l00153"></a>00153 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Element to update is not in PDF"</span>);
<a name="l00154"></a>00154 <span class="keyword">const</span> <span class="keywordtype">double</span> weightChange = w - tree_.front()[index];
<a name="l00155"></a>00155 tree_.front()[index] = w;
<a name="l00156"></a>00156 index >>= 1;
<a name="l00157"></a>00157 <span class="keywordflow">for</span> (std::size_t row = 1; row < tree_.size(); ++row)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 tree_[row][index] += weightChange;
<a name="l00160"></a>00160 index >>= 1;
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00165"></a><a class="code" href="classompl_1_1PDF.html#adf8a49388d14010008aa8aaa7a07c6ef">00165</a> <span class="keywordtype">void</span> <span class="keyword">remove</span>(<a class="code" href="classompl_1_1PDF_1_1Element.html" title="A class that will hold data contained in the PDF.">Element</a>& elem)
<a name="l00166"></a>00166 {
<a name="l00167"></a>00167 <span class="keywordflow">if</span> (data_.size() == 1)
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169 <span class="keyword">delete</span> data_.front();
<a name="l00170"></a>00170 data_.clear();
<a name="l00171"></a>00171 tree_.clear();
<a name="l00172"></a>00172 <span class="keywordflow">return</span>;
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="keyword">const</span> std::size_t index = elem.index_;
<a name="l00176"></a>00176 <span class="keyword">delete</span> data_[index];
<a name="l00177"></a>00177 std::swap(data_[index], data_.back());
<a name="l00178"></a>00178 data_[index]->index_ = index;
<a name="l00179"></a>00179 std::swap(tree_.front()[index], tree_.front().back());
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="keywordtype">double</span> weight;
<a name="l00182"></a>00182 <span class="comment">/* If index and back() are siblings in the tree, then</span>
<a name="l00183"></a>00183 <span class="comment"> * we don't need to make an extra pass over the tree.</span>
<a name="l00184"></a>00184 <span class="comment"> * The amount by which we change the values at the edge</span>
<a name="l00185"></a>00185 <span class="comment"> * of the tree is different in this case. */</span>
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (index+2 == data_.size() && index%2 == 0)
<a name="l00187"></a>00187 weight = tree_.front().back();
<a name="l00188"></a>00188 <span class="keywordflow">else</span>
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 weight = tree_.front()[index];
<a name="l00191"></a>00191 <span class="keyword">const</span> <span class="keywordtype">double</span> weightChange = weight - tree_.front().back();
<a name="l00192"></a>00192 std::size_t parent = index >> 1;
<a name="l00193"></a>00193 <span class="keywordflow">for</span> (std::size_t row = 1; row < tree_.size(); ++row)
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 tree_[row][parent] += weightChange;
<a name="l00196"></a>00196 parent >>= 1;
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="comment">/* Now that the element to remove is at the edge of the tree,</span>
<a name="l00201"></a>00201 <span class="comment"> * pop it off and update the corresponding weights. */</span>
<a name="l00202"></a>00202 data_.pop_back();
<a name="l00203"></a>00203 tree_.front().pop_back();
<a name="l00204"></a>00204 <span class="keywordflow">for</span> (std::size_t i = 1; i < tree_.size() && tree_[i-1].size() > 1; ++i)
<a name="l00205"></a>00205 {
<a name="l00206"></a>00206 <span class="keywordflow">if</span> (tree_[i-1].<a class="code" href="classompl_1_1PDF.html#a8afa9f2a1f14253ada1c8d61d4aef0fe" title="Returns the number of elements in the PDF.">size</a>() % 2 == 0)
<a name="l00207"></a>00207 tree_[i].pop_back();
<a name="l00208"></a>00208 <span class="keywordflow">else</span>
<a name="l00209"></a>00209 {
<a name="l00210"></a>00210 <span class="keywordflow">while</span> (i < tree_.size())
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212 tree_[i].back() -= weight;
<a name="l00213"></a>00213 ++i;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 <span class="keywordflow">return</span>;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 <span class="comment">//If we've made it here, then we need to remove a redundant head from the tree.</span>
<a name="l00219"></a>00219 tree_.pop_back();
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00223"></a><a class="code" href="classompl_1_1PDF.html#a21f41fc995544c874940fbeb06537665">00223</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1PDF.html#a21f41fc995544c874940fbeb06537665" title="Clears the PDF.">clear</a>(<span class="keywordtype">void</span>)
<a name="l00224"></a>00224 {
<a name="l00225"></a>00225 <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<Element*>::iterator e = data_.begin(); e != data_.end(); ++e)
<a name="l00226"></a>00226 <span class="keyword">delete</span> *e;
<a name="l00227"></a>00227 data_.clear();
<a name="l00228"></a>00228 tree_.clear();
<a name="l00229"></a>00229 }
<a name="l00230"></a>00230
<a name="l00232"></a><a class="code" href="classompl_1_1PDF.html#a8afa9f2a1f14253ada1c8d61d4aef0fe">00232</a> std::size_t <a class="code" href="classompl_1_1PDF.html#a8afa9f2a1f14253ada1c8d61d4aef0fe" title="Returns the number of elements in the PDF.">size</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00233"></a>00233 <span class="keyword"> </span>{
<a name="l00234"></a>00234 <span class="keywordflow">return</span> data_.size();
<a name="l00235"></a>00235 }
<a name="l00236"></a>00236
<a name="l00238"></a><a class="code" href="classompl_1_1PDF.html#a78a61ac1ec20e6690ffa33370c95a94d">00238</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1PDF.html#a78a61ac1ec20e6690ffa33370c95a94d" title="Returns whether the PDF contains no data.">empty</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00239"></a>00239 <span class="keyword"> </span>{
<a name="l00240"></a>00240 <span class="keywordflow">return</span> data_.empty();
<a name="l00241"></a>00241 }
<a name="l00242"></a>00242
<a name="l00244"></a><a class="code" href="classompl_1_1PDF.html#a122f69b2622ec5708070c111fab2347b">00244</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1PDF.html#a122f69b2622ec5708070c111fab2347b" title="Prints the PDF tree to a given output stream. Used for debugging purposes.">printTree</a>(std::ostream& out = std::cout)<span class="keyword"> const</span>
<a name="l00245"></a>00245 <span class="keyword"> </span>{
<a name="l00246"></a>00246 <span class="keywordflow">if</span> (tree_.empty())
<a name="l00247"></a>00247 <span class="keywordflow">return</span>;
<a name="l00248"></a>00248 <span class="keywordflow">for</span> (std::size_t j = 0; j < tree_[0].size(); ++j)
<a name="l00249"></a>00249 out << <span class="stringliteral">"("</span> << data_[j]->data_ << <span class="stringliteral">","</span> << tree_[0][j] << <span class="stringliteral">") "</span>;
<a name="l00250"></a>00250 out << std::endl;
<a name="l00251"></a>00251 <span class="keywordflow">for</span> (std::size_t i = 1; i < tree_.size(); ++i)
<a name="l00252"></a>00252 {
<a name="l00253"></a>00253 <span class="keywordflow">for</span> (std::size_t j = 0; j < tree_[i].size(); ++j)
<a name="l00254"></a>00254 out << tree_[i][j] << <span class="stringliteral">" "</span>;
<a name="l00255"></a>00255 out << std::endl;
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257 out << std::endl;
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259
<a name="l00260"></a>00260 <span class="keyword">private</span>:
<a name="l00261"></a>00261
<a name="l00262"></a>00262 std::vector<Element*> data_;
<a name="l00263"></a>00263 std::vector<std::vector<double > > tree_;
<a name="l00264"></a>00264 };
<a name="l00265"></a>00265 }
<a name="l00266"></a>00266
<a name="l00267"></a>00267 <span class="preprocessor">#endif</span>
</pre></div></div>
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