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