/usr/include/dynamicEDT3D/bucketedqueue.hxx is in libdynamicedt3d-dev 1.6.8+dfsg-1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | /**
* dynamicEDT3D:
* A library for incrementally updatable Euclidean distance transforms in 3D.
* @author C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.
* @see http://octomap.sourceforge.net/
* License: New BSD License
*/
/*
* Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the University of Freiburg nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "bucketedqueue.h"
#include "limits.h"
template <class T>
BucketPrioQueue<T>::BucketPrioQueue() {
nextPop = buckets.end();
count = 0;
}
template <class T>
bool BucketPrioQueue<T>::empty() {
return (count==0);
}
template <class T>
void BucketPrioQueue<T>::push(int prio, T t) {
buckets[prio].push(t);
if (nextPop == buckets.end() || prio < nextPop->first) nextPop = buckets.find(prio);
count++;
}
template <class T>
T BucketPrioQueue<T>::pop() {
while (nextPop!=buckets.end() && nextPop->second.empty()) ++nextPop;
T p = nextPop->second.front();
nextPop->second.pop();
if (nextPop->second.empty()) {
typename BucketType::iterator it = nextPop;
nextPop++;
buckets.erase(it);
}
count--;
return p;
}
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