76 lines
2.6 KiB
C++
76 lines
2.6 KiB
C++
/**
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* dynamicEDT3D:
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* A library for incrementally updatable Euclidean distance transforms in 3D.
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* @author C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.
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* @see http://octomap.sourceforge.net/
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* License: New BSD License
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*/
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/*
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* Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
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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 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 copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the University of Freiburg nor the names of its
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* contributors may be used to endorse or promote products derived from
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* 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 "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN 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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#include "bucketedqueue.h"
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#include "limits.h"
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template <class T>
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BucketPrioQueue<T>::BucketPrioQueue() {
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nextPop = buckets.end();
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count = 0;
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}
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template <class T>
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bool BucketPrioQueue<T>::empty() {
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return (count==0);
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}
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template <class T>
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void BucketPrioQueue<T>::push(int prio, T t) {
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buckets[prio].push(t);
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if (nextPop == buckets.end() || prio < nextPop->first) nextPop = buckets.find(prio);
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count++;
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}
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template <class T>
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T BucketPrioQueue<T>::pop() {
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while (nextPop!=buckets.end() && nextPop->second.empty()) ++nextPop;
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T p = nextPop->second.front();
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nextPop->second.pop();
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if (nextPop->second.empty()) {
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typename BucketType::iterator it = nextPop;
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nextPop++;
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buckets.erase(it);
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}
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count--;
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return p;
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}
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