pose_cell_set.cc

   1
   2 ///////////////////////////////////////////////////////////////////////////
   3 // This program is free software: you can redistribute it and/or modify  //
   4 // it under the terms of the version 3 of the GNU General Public License //
   5 // as published by the Free Software Foundation.                         //
   6 //                                                                       //
   7 // This program is distributed in the hope that it will be useful, but   //
   8 // WITHOUT ANY WARRANTY; without even the implied warranty of            //
   9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU      //
  10 // General Public License for more details.                              //
  11 //                                                                       //
  12 // You should have received a copy of the GNU General Public License     //
  13 // along with this program. If not, see <http://www.gnu.org/licenses/>.  //
  14 //                                                                       //
  15 // Written by Francois Fleuret                                           //
  16 // (C) Idiap Research Institute                                          //
  17 //                                                                       //
  18 // Contact <francois.fleuret@idiap.ch> for comments & bug reports        //
  19 ///////////////////////////////////////////////////////////////////////////
  20
  21 #include "pose_cell_set.h"
  22 #include "global.h"
  23
  24 PoseCellSet::PoseCellSet() {
  25   _nb_added = 0;
  26   _max_nb = max_nb_cells;
  27   _cells = new PoseCell[_max_nb];
  28 }
  29
  30 PoseCellSet::~PoseCellSet() {
  31   delete[] _cells;
  32 }
  33
  34 void PoseCellSet::erase_content() {
  35   _nb_added = 0;
  36 }
  37
  38 PoseCell *PoseCellSet::get_containing_cell(Pose *p) {
  39   for(int c = 0; c < _nb_added; c++) {
  40     if(_cells[c].contains(p)) return _cells + c;
  41   }
  42   return 0;
  43 }
  44
  45 void PoseCellSet::add_cell(PoseCell *cell) {
  46   if(_nb_added < _max_nb) {
  47     _cells[_nb_added] = *cell;
  48     _nb_added++;
  49   } else {
  50     cerr << "Too many pose cells!" << endl;
  51     abort();
  52   }
  53 }