From ca9be34b51f66f13ec635663e59651730251c390 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 15 Jun 2016 17:04:34 +0200
Subject: [PATCH] graph helper uses an unordered map instead of a vector.
---
src/graph/helper.cc | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 4479743..199e71f 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -546,8 +546,8 @@ namespace hpp {
struct Result {
GraphPtr_t graph;
- std::vector<NodeAndManifold_t> nodes;
- typedef std::vector<NodeAndManifold_t>::size_type nodeid_type;
+ typedef unsigned long nodeid_type;
+ std::tr1::unordered_map<nodeid_type, NodeAndManifold_t> nodes;
typedef std::pair<nodeid_type, nodeid_type> edgeid_type;
struct edgeid_hash {
std::tr1::hash<edgeid_type::first_type> first;
@@ -575,7 +575,6 @@ namespace hpp {
dims[0] = nOH + 1;
for (index_t i = 1; i < nG; ++i)
dims[i] = dims[i-1] * (nOH + 1);
- nodes.resize (dims[nG-1] * (nOH + 1));
graspCs.resize (nG * nOH);
rulesCache = Eigen::MatrixXi::Constant(nG, nOH + 1, CompiledRule::Undefined);
}
--
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