minpq.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef MINPQ_H
#define MINPQ_H

#include <stdlib.h>

/******************************* Defs and macros *****************************/

/* initial # of priority queue elements for which to allocate space */
#define MINPQ_INIT_NALLOCD 512

/********************************** Structures *******************************/

/** an element in a minimizing priority queue */
struct pq_node
{
        void* data;
        int key;
};

/** a minimizing priority queue */
struct min_pq
{
        struct pq_node* pq_array; /* array containing priority queue */
        int nallocd; /* number of elements allocated */
        int n; /**< number of elements in pq */
};

/*************************** Function Prototypes *****************************/

/**
Creates a new minimizing priority queue.
*/
extern struct min_pq* minpq_init();

/**
Inserts an element into a minimizing priority queue.

@param min_pq a minimizing priority queue
@param data the data to be inserted
@param key the key to be associated with \a data

@return Returns 0 on success or 1 on failure.
*/
extern int minpq_insert(struct min_pq* min_pq, void* data, int key);

/**
Returns the element of a minimizing priority queue with the smallest key
without removing it from the queue.

@param min_pq a minimizing priority queue

@return Returns the element of \a min_pq with the smallest key or NULL
        if \a min_pq is empty
*/
extern void* minpq_get_min(struct min_pq* min_pq);

/**
Removes and returns the element of a minimizing priority queue with the
smallest key.

@param min_pq a minimizing priority queue

@return Returns the element of \a min_pq with the smallest key of NULL
        if \a min_pq is empty
*/
extern void* minpq_extract_min(struct min_pq* min_pq);

/**
De-allocates the memory held by a minimizing priorioty queue

@param min_pq pointer to a minimizing priority queue
*/
extern void minpq_release(struct min_pq** min_pq);

#endif