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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_65c55b74f1fe3d7e17a0effca76d06ab.html">util</a></li> </ul>
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<div class="title">vector3i_hash.hpp</div> </div>
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<a href="vector3i__hash_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1XORVector3iHash.html"> 13</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1XORVector3iHash.html">XORVector3iHash</a> {</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1XORVector3iHash.html#a2b362af59d10eee2f4c60f2b22c2b499"> 15</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1XORVector3iHash.html#a2b362af59d10eee2f4c60f2b22c2b499">operator()</a>(<span class="keyword">const</span> Eigen::Vector3i& x)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> p1 = 73856093;</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> p2 = 19349669; <span class="comment">// 19349663 was not a prime number</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> p3 = 83492791;</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keywordtype">size_t</span><span class="keyword">></span>((x[0] * p1) ^ (x[1] * p2) ^ (x[2] * p3));</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  }</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
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<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1XORVector3iHash.html#afa7468ac852886171e166e04fdac266e"> 22</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1XORVector3iHash.html#afa7468ac852886171e166e04fdac266e">hash</a>(<span class="keyword">const</span> Eigen::Vector3i& x) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1XORVector3iHash.html">XORVector3iHash</a>()(x); }</div>
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<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1XORVector3iHash.html#a2fd9fe472f0b127f4b46d8eecab9268e"> 23</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1XORVector3iHash.html#a2fd9fe472f0b127f4b46d8eecab9268e">equal</a>(<span class="keyword">const</span> Eigen::Vector3i& x1, <span class="keyword">const</span> Eigen::Vector3i& x2) { <span class="keywordflow">return</span> x1 == x2; }</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> };</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1XORVector3iHash_html"><div class="ttname"><a href="structsmall__gicp_1_1XORVector3iHash.html">small_gicp::XORVector3iHash</a></div><div class="ttdoc">Spatial hashing function. Teschner et al., "Optimized Spatial Hashing for Collision Detection of Defo...</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:13</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1XORVector3iHash_html_a2b362af59d10eee2f4c60f2b22c2b499"><div class="ttname"><a href="structsmall__gicp_1_1XORVector3iHash.html#a2b362af59d10eee2f4c60f2b22c2b499">small_gicp::XORVector3iHash::operator()</a></div><div class="ttdeci">size_t operator()(const Eigen::Vector3i &x) const</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1XORVector3iHash_html_a2fd9fe472f0b127f4b46d8eecab9268e"><div class="ttname"><a href="structsmall__gicp_1_1XORVector3iHash.html#a2fd9fe472f0b127f4b46d8eecab9268e">small_gicp::XORVector3iHash::equal</a></div><div class="ttdeci">static bool equal(const Eigen::Vector3i &x1, const Eigen::Vector3i &x2)</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:23</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1XORVector3iHash_html_afa7468ac852886171e166e04fdac266e"><div class="ttname"><a href="structsmall__gicp_1_1XORVector3iHash.html#afa7468ac852886171e166e04fdac266e">small_gicp::XORVector3iHash::hash</a></div><div class="ttdeci">static size_t hash(const Eigen::Vector3i &x)</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:22</div></div>
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