564 lines
14 KiB
C++
564 lines
14 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** @author Jia Pan */
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#ifndef FCL_INTERVAL_TREE_INL_H
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#define FCL_INTERVAL_TREE_INL_H
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#include "fcl/broadphase/detail/interval_tree.h"
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#include <algorithm>
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namespace fcl {
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namespace detail {
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//==============================================================================
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extern template
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class IntervalTree<double>;
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//==============================================================================
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template <typename S>
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IntervalTree<S>::IntervalTree()
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{
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nil = new IntervalTreeNode<S>;
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nil->left = nil->right = nil->parent = nil;
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nil->red = false;
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nil->key = nil->high = nil->max_high = -std::numeric_limits<double>::max();
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nil->stored_interval = nullptr;
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root = new IntervalTreeNode<S>;
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root->parent = root->left = root->right = nil;
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root->key = root->high = root->max_high = std::numeric_limits<double>::max();
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root->red = false;
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root->stored_interval = nullptr;
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/// the following are used for the query function
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recursion_node_stack_size = 128;
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recursion_node_stack = (it_recursion_node<S>*)malloc(recursion_node_stack_size*sizeof(it_recursion_node<S>));
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recursion_node_stack_top = 1;
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recursion_node_stack[0].start_node = nullptr;
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}
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//==============================================================================
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template <typename S>
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IntervalTree<S>::~IntervalTree()
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{
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IntervalTreeNode<S>* x = root->left;
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std::deque<IntervalTreeNode<S>*> nodes_to_free;
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if(x != nil)
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{
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if(x->left != nil)
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{
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nodes_to_free.push_back(x->left);
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}
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if(x->right != nil)
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{
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nodes_to_free.push_back(x->right);
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}
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delete x;
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while( nodes_to_free.size() > 0)
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{
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x = nodes_to_free.back();
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nodes_to_free.pop_back();
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if(x->left != nil)
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{
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nodes_to_free.push_back(x->left);
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}
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if(x->right != nil)
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{
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nodes_to_free.push_back(x->right);
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}
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delete x;
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}
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}
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delete nil;
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delete root;
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free(recursion_node_stack);
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::leftRotate(IntervalTreeNode<S>* x)
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{
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IntervalTreeNode<S>* y;
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y = x->right;
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x->right = y->left;
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if(y->left != nil) y->left->parent = x;
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y->parent = x->parent;
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if(x == x->parent->left)
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x->parent->left = y;
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else
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x->parent->right = y;
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y->left = x;
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x->parent = y;
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x->max_high = std::max(x->left->max_high, std::max(x->right->max_high, x->high));
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y->max_high = std::max(x->max_high, std::max(y->right->max_high, y->high));
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::rightRotate(IntervalTreeNode<S>* y)
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{
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IntervalTreeNode<S>* x;
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x = y->left;
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y->left = x->right;
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if(nil != x->right) x->right->parent = y;
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x->parent = y->parent;
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if(y == y->parent->left)
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y->parent->left = x;
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else
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y->parent->right = x;
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x->right = y;
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y->parent = x;
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y->max_high = std::max(y->left->max_high, std::max(y->right->max_high, y->high));
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x->max_high = std::max(x->left->max_high, std::max(y->max_high, x->high));
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::recursiveInsert(IntervalTreeNode<S>* z)
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{
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IntervalTreeNode<S>* x;
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IntervalTreeNode<S>* y;
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z->left = z->right = nil;
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y = root;
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x = root->left;
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while(x != nil)
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{
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y = x;
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if(x->key > z->key)
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x = x->left;
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else
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x = x->right;
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}
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z->parent = y;
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if((y == root) || (y->key > z->key))
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y->left = z;
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else
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y->right = z;
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::fixupMaxHigh(IntervalTreeNode<S>* x)
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{
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while(x != root)
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{
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x->max_high = std::max(x->high, std::max(x->left->max_high, x->right->max_high));
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x = x->parent;
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}
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}
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//==============================================================================
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template <typename S>
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IntervalTreeNode<S>* IntervalTree<S>::insert(SimpleInterval<S>* new_interval)
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{
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IntervalTreeNode<S>* y;
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IntervalTreeNode<S>* x;
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IntervalTreeNode<S>* new_node;
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x = new IntervalTreeNode<S>(new_interval);
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recursiveInsert(x);
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fixupMaxHigh(x->parent);
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new_node = x;
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x->red = true;
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while(x->parent->red)
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{
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/// use sentinel instead of checking for root
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if(x->parent == x->parent->parent->left)
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{
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y = x->parent->parent->right;
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if(y->red)
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{
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x->parent->red = true;
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y->red = true;
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x->parent->parent->red = true;
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x = x->parent->parent;
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}
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else
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{
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if(x == x->parent->right)
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{
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x = x->parent;
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leftRotate(x);
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}
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x->parent->red = false;
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x->parent->parent->red = true;
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rightRotate(x->parent->parent);
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}
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}
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else
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{
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y = x->parent->parent->left;
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if(y->red)
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{
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x->parent->red = false;
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y->red = false;
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x->parent->parent->red = true;
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x = x->parent->parent;
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}
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else
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{
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if(x == x->parent->left)
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{
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x = x->parent;
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rightRotate(x);
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}
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x->parent->red = false;
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x->parent->parent->red = true;
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leftRotate(x->parent->parent);
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}
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}
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}
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root->left->red = false;
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return new_node;
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}
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//==============================================================================
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template <typename S>
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IntervalTreeNode<S>* IntervalTree<S>::getSuccessor(IntervalTreeNode<S>* x) const
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{
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IntervalTreeNode<S>* y;
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if(nil != (y = x->right))
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{
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while(y->left != nil)
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y = y->left;
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return y;
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}
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else
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{
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y = x->parent;
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while(x == y->right)
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{
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x = y;
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y = y->parent;
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}
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if(y == root) return nil;
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return y;
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}
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}
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//==============================================================================
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template <typename S>
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IntervalTreeNode<S>* IntervalTree<S>::getPredecessor(IntervalTreeNode<S>* x) const
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{
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IntervalTreeNode<S>* y;
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if(nil != (y = x->left))
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{
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while(y->right != nil)
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y = y->right;
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return y;
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}
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else
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{
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y = x->parent;
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while(x == y->left)
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{
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if(y == root) return nil;
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x = y;
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y = y->parent;
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}
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return y;
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}
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::recursivePrint(IntervalTreeNode<S>* x) const
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{
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if(x != nil)
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{
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recursivePrint(x->left);
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x->print(nil,root);
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recursivePrint(x->right);
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}
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::print() const
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{
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recursivePrint(root->left);
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::deleteFixup(IntervalTreeNode<S>* x)
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{
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IntervalTreeNode<S>* w;
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IntervalTreeNode<S>* root_left_node = root->left;
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while((!x->red) && (root_left_node != x))
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{
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if(x == x->parent->left)
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{
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w = x->parent->right;
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if(w->red)
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{
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w->red = false;
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x->parent->red = true;
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leftRotate(x->parent);
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w = x->parent->right;
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}
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if((!w->right->red) && (!w->left->red))
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{
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w->red = true;
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x = x->parent;
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}
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else
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{
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if(!w->right->red)
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{
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w->left->red = false;
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w->red = true;
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rightRotate(w);
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w = x->parent->right;
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}
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w->red = x->parent->red;
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x->parent->red = false;
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w->right->red = false;
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leftRotate(x->parent);
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x = root_left_node;
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}
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}
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else
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{
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w = x->parent->left;
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if(w->red)
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{
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w->red = false;
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x->parent->red = true;
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rightRotate(x->parent);
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w = x->parent->left;
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}
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if((!w->right->red) && (!w->left->red))
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{
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w->red = true;
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x = x->parent;
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}
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else
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{
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if(!w->left->red)
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{
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w->right->red = false;
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w->red = true;
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leftRotate(w);
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w = x->parent->left;
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}
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w->red = x->parent->red;
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x->parent->red = false;
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w->left->red = false;
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rightRotate(x->parent);
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x = root_left_node;
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}
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}
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}
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x->red = false;
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}
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//==============================================================================
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template <typename S>
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void IntervalTree<S>::deleteNode(SimpleInterval<S>* ivl)
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{
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IntervalTreeNode<S>* node = recursiveSearch(root, ivl);
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if(node)
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deleteNode(node);
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}
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//==============================================================================
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template <typename S>
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IntervalTreeNode<S>* IntervalTree<S>::recursiveSearch(IntervalTreeNode<S>* node, SimpleInterval<S>* ivl) const
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{
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if(node != nil)
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{
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if(node->stored_interval == ivl)
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return node;
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IntervalTreeNode<S>* left = recursiveSearch(node->left, ivl);
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if(left != nil) return left;
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IntervalTreeNode<S>* right = recursiveSearch(node->right, ivl);
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if(right != nil) return right;
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}
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return nil;
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}
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//==============================================================================
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template <typename S>
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SimpleInterval<S>* IntervalTree<S>::deleteNode(IntervalTreeNode<S>* z)
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{
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IntervalTreeNode<S>* y;
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IntervalTreeNode<S>* x;
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SimpleInterval<S>* node_to_delete = z->stored_interval;
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y= ((z->left == nil) || (z->right == nil)) ? z : getSuccessor(z);
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x= (y->left == nil) ? y->right : y->left;
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if(root == (x->parent = y->parent))
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{
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root->left = x;
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}
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else
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{
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if(y == y->parent->left)
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{
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y->parent->left = x;
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}
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else
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{
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y->parent->right = x;
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}
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}
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/// @brief y should not be nil in this case
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/// y is the node to splice out and x is its child
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if(y != z)
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{
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y->max_high = -std::numeric_limits<double>::max();
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y->left = z->left;
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y->right = z->right;
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y->parent = z->parent;
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z->left->parent = z->right->parent = y;
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if(z == z->parent->left)
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z->parent->left = y;
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else
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z->parent->right = y;
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fixupMaxHigh(x->parent);
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if(!(y->red))
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{
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y->red = z->red;
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deleteFixup(x);
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}
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else
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y->red = z->red;
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delete z;
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}
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else
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{
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fixupMaxHigh(x->parent);
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if(!(y->red)) deleteFixup(x);
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delete y;
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}
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return node_to_delete;
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}
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//==============================================================================
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/// @brief returns 1 if the intervals overlap, and 0 otherwise
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template <typename S>
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bool overlap(S a1, S a2, S b1, S b2)
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{
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if(a1 <= b1)
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{
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return (b1 <= a2);
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}
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else
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{
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return (a1 <= b2);
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}
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}
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//==============================================================================
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template <typename S>
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std::deque<SimpleInterval<S>*> IntervalTree<S>::query(S low, S high)
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{
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std::deque<SimpleInterval<S>*> result_stack;
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IntervalTreeNode<S>* x = root->left;
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bool run = (x != nil);
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current_parent = 0;
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while(run)
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{
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if(overlap(low,high,x->key,x->high))
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{
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result_stack.push_back(x->stored_interval);
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recursion_node_stack[current_parent].try_right_branch = true;
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}
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if(x->left->max_high >= low)
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{
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if(recursion_node_stack_top == recursion_node_stack_size)
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{
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recursion_node_stack_size *= 2;
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recursion_node_stack = (it_recursion_node<S> *)realloc(recursion_node_stack, recursion_node_stack_size * sizeof(it_recursion_node<S>));
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if(recursion_node_stack == nullptr)
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exit(1);
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}
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recursion_node_stack[recursion_node_stack_top].start_node = x;
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recursion_node_stack[recursion_node_stack_top].try_right_branch = false;
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recursion_node_stack[recursion_node_stack_top].parent_index = current_parent;
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current_parent = recursion_node_stack_top++;
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x = x->left;
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}
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else
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x = x->right;
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run = (x != nil);
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while((!run) && (recursion_node_stack_top > 1))
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{
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if(recursion_node_stack[--recursion_node_stack_top].try_right_branch)
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{
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x=recursion_node_stack[recursion_node_stack_top].start_node->right;
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current_parent=recursion_node_stack[recursion_node_stack_top].parent_index;
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recursion_node_stack[current_parent].try_right_branch = true;
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run = (x != nil);
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}
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}
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}
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return result_stack;
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}
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} // namespace detail
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} // namespace fcl
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#endif
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