3dpcp/.svn/pristine/d5/d5edccf93c049962c90ec2f9ce24702fa3e637e7.svn-base

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2012-09-16 12:33:11 +00:00
/*
* Boctree implementation
*
* Copyright (C) Jan Elseberg
*
* Released under the GPL version 3.
*
*/
#include "slam6d/Boctree.h"
//! Start-of-the-program initializer for the sequence map.
struct Initializer {
Initializer() {
for(unsigned char mask = 0; mask < 256; mask++) {
for(unsigned char index = 0; index < 8; index++) {
char c = 0;
char *mimap = imap[index]; // maps area index to preference
for(unsigned char i = 0; i < 8; i++) {
if(( 1 << i ) & mask) { // if ith node exists
sequence2ci[index][mask][ mimap[i] ] = c++;
} else {
sequence2ci[index][mask][ mimap[i] ] = -1;
}
}
}
if (mask == UCHAR_MAX) break;
}
}
};
namespace{
Initializer init;
}
char sequence2ci[8][256][8] = {};
char amap[8][8] = {
{0, 1, 2, 4, 3, 5, 6, 7 },
{1, 0, 3, 5, 2, 4, 6, 7 },
{2, 0, 3, 6, 1, 4, 5, 7 },
{3, 1, 2, 7, 0, 5, 4, 6 },
{4, 5, 6, 0, 7, 1, 2, 3 },
{5, 4, 7, 1, 6, 0, 3, 2 },
{6, 4, 7, 2, 5, 0, 3, 1 },
{7, 5, 6, 3, 4, 1, 2, 0 } };
char imap[8][8] = {
{0, 1, 2, 4, 3, 5, 6, 7 },
{1, 0, 4, 2, 5, 3, 6, 7 },
{1, 4, 0, 2, 5, 6, 3, 7 },
{4, 1, 2, 0, 6, 5, 7, 3 },
{3, 5, 6, 7, 0, 1, 2, 4 },
{5, 3, 7, 6, 1, 0, 4, 2 },
{5, 7, 3, 6, 1, 4, 0, 2 },
{7, 5, 6, 3, 4, 1, 2, 0 } };