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/*
A simple min-priority-queue implementation. Uses STL internally
*/
#include <algorithm>
#include <functional>
extern "C"
{
#include "heap.h"
}
// empty namespace to prevent C++ from exporting any symbols here
namespace {
struct Compare_nodes_greater
{
mrcal_heap_node_t* nodes;
Compare_nodes_greater(mrcal_heap_node_t* _nodes) : nodes(_nodes) {}
bool operator()(const uint16_t& idx_a, const uint16_t& idx_b) const
{
return nodes[idx_a].cost > nodes[idx_b].cost;
}
};
}
extern "C"
bool mrcal_heap_empty (mrcal_heap_t* heap, mrcal_heap_node_t* nodes)
{
return heap->size==0;
}
extern "C"
void mrcal_heap_push (mrcal_heap_t* heap, mrcal_heap_node_t* nodes, uint16_t x)
{
heap->buffer[heap->size++] = x;
std::push_heap(&heap->buffer[0],
&heap->buffer[heap->size],
Compare_nodes_greater(nodes));
}
extern "C"
uint16_t mrcal_heap_pop (mrcal_heap_t* heap, mrcal_heap_node_t* nodes)
{
uint16_t x = heap->buffer[0];
std::pop_heap(&heap->buffer[0],
&heap->buffer[heap->size],
Compare_nodes_greater(nodes));
heap->size--;
return x;
}
extern "C"
void mrcal_heap_resort(mrcal_heap_t* heap, mrcal_heap_node_t* nodes)
{
std::make_heap(&heap->buffer[0],
&heap->buffer[heap->size],
Compare_nodes_greater(nodes));
}
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