E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
00001 /* 00002 * Copyright (C) 2005 Roland Philippsen <roland dot philippsen at gmx net> 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 00017 * USA 00018 */ 00019 00020 00021 #ifndef ESTAR_QUEUE_HPP 00022 #define ESTAR_QUEUE_HPP 00023 00024 00025 #include <estar/base.hpp> 00026 #include <map> 00027 00028 00029 namespace estar { 00030 00031 00032 typedef std::multimap<double, vertex_t> queue_t; 00033 typedef queue_t::iterator queue_it; 00034 typedef queue_t::const_iterator const_queue_it; 00035 00036 typedef std::map<vertex_t, double> queue_map_t; 00037 00038 00041 class Queue { 00042 public: 00043 bool IsEmpty() const { return m_queue.empty(); } 00044 00045 vertex_t Pop(flag_map_t & flag_map); 00046 00048 void Requeue(vertex_t vertex, 00049 flag_map_t & flag_map, 00050 const value_map_t & value_map, 00051 const rhs_map_t & rhs_map); 00052 void Clear(); 00053 00059 bool VitaminB(vertex_t vertex); 00060 00061 const queue_t & Get() const { return m_queue; } 00062 const queue_map_t & GetMap() const { return m_map; } 00063 00064 private: 00065 queue_t m_queue; 00066 queue_map_t m_map; 00067 00069 void DoDequeue(vertex_t vertex, queue_t::iterator iq); 00070 }; 00071 00072 } // namespace estar 00073 00074 #endif // ESTAR_QUEUE_HPP