rtabmap/corelib/src/rtflann/general.h

/***********************************************************************
 * Software License Agreement (BSD License)
 *
 * Copyright 2008-2009  Marius Muja ([email protected]). All rights reserved.
 * Copyright 2008-2009  David G. Lowe ([email protected]). All rights reserved.
 *
 * THE BSD LICENSE
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 * 1. Redistributions of source code must retain the above copyright
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#ifndef RTABMAP_FLANN_GENERAL_H_
#define RTABMAP_FLANN_GENERAL_H_

#include "defines.h"
#include <stdexcept>
#include <cassert>
#include <limits.h>

namespace rtflann
{

class FLANNException : public std::runtime_error
{
public:
    FLANNException(const char* message) : std::runtime_error(message) { }

    FLANNException(const std::string& message) : std::runtime_error(message) { }
};


template <typename T>
struct flann_datatype_value
{
	static const flann_datatype_t value = FLANN_NONE;
};

template<>
struct flann_datatype_value<char>
{
	static const flann_datatype_t value = FLANN_INT8;
};

template<>
struct flann_datatype_value<short>
{
	static const flann_datatype_t value = FLANN_INT16;
};

template<>
struct flann_datatype_value<int>
{
	static const flann_datatype_t value = FLANN_INT32;
};

#ifdef LLONG_MAX
template<>
struct flann_datatype_value<long long>
{
	static const flann_datatype_t value = FLANN_INT64;
};
#endif

template<>
struct flann_datatype_value<unsigned char>
{
	static const flann_datatype_t value = FLANN_UINT8;
};

template<>
struct flann_datatype_value<unsigned short>
{
	static const flann_datatype_t value = FLANN_UINT16;
};

template<>
struct flann_datatype_value<unsigned int>
{
	static const flann_datatype_t value = FLANN_UINT32;
};

#ifdef ULLONG_MAX
template<>
struct flann_datatype_value<unsigned long long>
{
	static const flann_datatype_t value = FLANN_UINT64;
};
#endif


template<>
struct flann_datatype_value<float>
{
	static const flann_datatype_t value = FLANN_FLOAT32;
};

template<>
struct flann_datatype_value<double>
{
	static const flann_datatype_t value = FLANN_FLOAT64;
};



template <flann_datatype_t datatype>
struct flann_datatype_type
{
	typedef void type;
};

template<>
struct flann_datatype_type<FLANN_INT8>
{
	typedef char type;
};

template<>
struct flann_datatype_type<FLANN_INT16>
{
	typedef short type;
};

template<>
struct flann_datatype_type<FLANN_INT32>
{
	typedef int type;
};

#ifdef LLONG_MAX
template<>
struct flann_datatype_type<FLANN_INT64>
{
	typedef long long type;
};
#endif

template<>
struct flann_datatype_type<FLANN_UINT8>
{
	typedef unsigned char type;
};


template<>
struct flann_datatype_type<FLANN_UINT16>
{
	typedef unsigned short type;
};

template<>
struct flann_datatype_type<FLANN_UINT32>
{
	typedef unsigned int type;
};

#ifdef ULLONG_MAX
template<>
struct flann_datatype_type<FLANN_UINT64>
{
	typedef unsigned long long type;
};
#endif

template<>
struct flann_datatype_type<FLANN_FLOAT32>
{
	typedef float type;
};

template<>
struct flann_datatype_type<FLANN_FLOAT64>
{
	typedef double type;
};


inline size_t flann_datatype_size(flann_datatype_t type)
{
	switch (type) {
	case FLANN_INT8:
		return sizeof(flann_datatype_type<FLANN_INT8>::type);
	case FLANN_INT16:
		return sizeof(flann_datatype_type<FLANN_INT16>::type);
	case FLANN_INT32:
		return sizeof(flann_datatype_type<FLANN_INT32>::type);
	case FLANN_INT64:
		return sizeof(flann_datatype_type<FLANN_INT64>::type);
	case FLANN_UINT8:
		return sizeof(flann_datatype_type<FLANN_UINT8>::type);
	case FLANN_UINT16:
		return sizeof(flann_datatype_type<FLANN_UINT16>::type);
	case FLANN_UINT32:
		return sizeof(flann_datatype_type<FLANN_UINT32>::type);
	case FLANN_UINT64:
		return sizeof(flann_datatype_type<FLANN_UINT64>::type);
	case FLANN_FLOAT32:
		return sizeof(flann_datatype_type<FLANN_FLOAT32>::type);
	case FLANN_FLOAT64:
		return sizeof(flann_datatype_type<FLANN_FLOAT64>::type);
	default:
		return 0;
	}
}

}


#endif  /* RTABMAP_FLANN_GENERAL_H_ */