91 lines
3.2 KiB
C++
91 lines
3.2 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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#ifndef _PRIORITYQUEUE2_H_
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#define _PRIORITYQUEUE2_H_
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#include <vector>
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#include <set>
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#include <queue>
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#include <assert.h>
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#include "point.h"
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#include <map>
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//! Priority queue for integer coordinates with squared distances as priority.
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/** A priority queue that uses buckets to group elements with the same priority.
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* The individual buckets are unsorted, which increases efficiency if these groups are large.
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* The elements are assumed to be integer coordinates, and the priorities are assumed
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* to be squared euclidean distances (integers).
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*/
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template <typename T>
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class BucketPrioQueue {
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public:
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//! Standard constructor
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/** Standard constructor. When called for the first time it creates a look up table
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* that maps square distanes to bucket numbers, which might take some time...
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*/
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BucketPrioQueue();
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void clear() { buckets.clear(); }
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//! Checks whether the Queue is empty
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bool empty();
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//! push an element
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void push(int prio, T t);
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//! return and pop the element with the lowest squared distance */
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T pop();
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int size() { return count; }
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int getNumBuckets() { return buckets.size(); }
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private:
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int count;
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typedef std::map< int, std::queue<T> > BucketType;
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BucketType buckets;
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typename BucketType::iterator nextPop;
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};
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#include "bucketedqueue.hxx"
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#endif
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