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/* Author: Ioan Sucan */

#ifndef OMPL_DATASTRUCTURES_BINARY_HEAP_
#define OMPL_DATASTRUCTURES_BINARY_HEAP_

#include <functional>
#include <vector>
#include <cassert>

namespace ompl
{

    /** \brief This class provides an implementation of an updatable
        min-heap. Using it is a bit cumbersome, as it requires keeping
        track of the BinaryHeap::Element* type, however, it should be
        as fast as it gets with an updatable heap. */
    template <typename _T,
              class LessThan = std::less<_T> >
    class BinaryHeap
    {
    public:

        /** \brief When an element is added to the heap, an instance
            of Element* is created. This instance contains the data
            that was added and internal information about the position
            of the data in the heap's internal storage. */
        class Element
        {
            friend class BinaryHeap;
        private:
            Element() { }
            ~Element() { }
            /** \brief The location of the data in the heap's storage */
            unsigned int position;
        public:
            /** \brief The data of this element */
            _T           data;
        };

        /** \brief Event that gets called after an insertion */
        typedef void (*EventAfterInsert) (Element*, void*);

        /** \brief Event that gets called just before a removal */
        typedef void (*EventBeforeRemove)(Element*, void*);

        BinaryHeap()
        {
            eventAfterInsert_  = NULL;
            eventBeforeRemove_ = NULL;
        }

        ~BinaryHeap()
        {
            clear();
        }

        /** \brief Set the event that gets called after insertion */
        void onAfterInsert(EventAfterInsert event, void *arg)
        {
            eventAfterInsert_ = event;
            eventAfterInsertData_ = arg;
        }

        /** \brief Set the event that gets called before a removal */
        void onBeforeRemove(EventBeforeRemove event, void *arg)
        {
            eventBeforeRemove_ = event;
            eventBeforeRemoveData_ = arg;
        }

        /** \brief Clear the heap */
        void clear()
        {
            for (typename std::vector<Element*>::iterator i = vector_.begin() ;
                 i != vector_.end() ; ++i)
                delete *i;
            vector_.clear();
        }

        /** \brief Return the top element. NULL for an empty heap. */
        Element* top() const
        {
            return vector_.empty() ? NULL : vector_.at(0);
        }

        /** \brief Remove the top element */
        void pop()
        {
            removePos(0);
        }

        /** \brief Remove a specific element */
        void remove(Element *element)
        {
            if (eventBeforeRemove_)
                eventBeforeRemove_(element, eventBeforeRemoveData_);
            removePos(element->position);
        }

        /** \brief Add a new element */
        Element* insert(const _T& data)
        {
            Element *element = new Element();
            element->data = data;
            const unsigned int pos = vector_.size();
            element->position = pos;
            vector_.push_back(element);
            percolateUp(pos);
            if (eventAfterInsert_)
                eventAfterInsert_(element, eventAfterInsertData_);
            return element;
        }

        /** \brief Add a set of elements to the heap */
        void insert(const std::vector<_T>& list)
        {
            const unsigned int n = vector_.size();
            const unsigned int m = list.size();
            for (unsigned int i = 0 ; i < m ; ++i)
            {
                const unsigned int pos = i + n;
                Element *element = newElement(list[i], pos);
                vector_.push_back(element);
                percolateUp(pos);
                if (eventAfterInsert_)
                    eventAfterInsert_(element, eventAfterInsertData_);
            }
        }

        /** \brief Clear the heap, add the set of elements @e list to it and rebuild it. */
        void buildFrom(const std::vector<_T>& list)
        {
            clear();
            const unsigned int m = list.size();
            for (unsigned int i = 0 ; i < m ; ++i)
                vector_.push_back(newElement(list[i], i));
            build();
        }

        /** \brief Rebuild the heap */
        void rebuild()
        {
            build();
        }

        /** \brief Update an element in the heap */
        void update(Element *element)
        {
            const unsigned int pos = element->position;
            assert(vector_[pos] == element);
            percolateUp(pos);
            percolateDown(pos);
        }

        /** \brief Check if the heap is empty */
        bool empty() const
        {
            return vector_.empty();
        }

        /** \brief Get the number of elements in the heap */
        unsigned int size() const
        {
            return vector_.size();
        }

        /** \brief Get the data stored in this heap */
        void getContent(std::vector<_T> &content) const
        {
            for (typename std::vector<Element*>::const_iterator i = vector_.begin();
                 i != vector_.end() ; ++i)
                content.push_back((*i)->data);
        }

        /** \brief Sort an array of elements. This does not affect the content of the heap */
        void sort(std::vector<_T>& list)
        {
            const unsigned int n         = list.size();
            std::vector<Element*> backup = vector_;
            vector_.clear();
            for (unsigned int i = 0 ; i < n ; ++i)
                vector_.push_back(newElement(list[i], i));
            build();
            list.clear();
            list.reserve(n);

            for (unsigned int i = 0 ; i < n ; ++i)
            {
                list.push_back(vector_[0]->data);
                removePos(0);
            }
            vector_ = backup;
        }

        /** \brief Return a reference to the comparison operator */
        LessThan& getComparisonOperator()
        {
            return lt_;
        }

    private:

        LessThan                 lt_;

        std::vector<Element*>    vector_;

        EventAfterInsert         eventAfterInsert_;
        void                    *eventAfterInsertData_;
        EventBeforeRemove        eventBeforeRemove_;
        void                    *eventBeforeRemoveData_;

        void removePos(unsigned int pos)
        {
            const int n = vector_.size() - 1;
            delete vector_[pos];
            if ((int)pos < n)
            {
                vector_[pos] = vector_.back();
                vector_[pos]->position = pos;
                vector_.pop_back();
                percolateDown(pos);
            }
            else
                vector_.pop_back();
        }

        Element* newElement(_T& data, unsigned int pos) const
        {
            Element *element = new Element();
            element->data = data;
            element->position = pos;
            return element;
        }

        void build()
        {
            for(int i = vector_.size() / 2 - 1; i >= 0; --i)
                percolateDown(i);
        }

        void percolateDown(const unsigned int pos)
        {
            const unsigned int n      = vector_.size();
            Element           *tmp    = vector_[pos];
            unsigned int       parent = pos;
            unsigned int       child  = (pos + 1) << 1;

            while (child < n)
            {
                if (lt_(vector_[child - 1]->data, vector_[child]->data)) --child;
                if (lt_(vector_[child]->data,  tmp->data))
                {
                    vector_[parent] = vector_[child];
                    vector_[parent]->position = parent;
                }
                else
                    break;
                parent = child;
                child  = (child + 1) << 1;
            }
            if (child == n)
            {
                --child;
                if (lt_(vector_[child]->data, tmp->data))
                {
                    vector_[parent] = vector_[child];
                    vector_[parent]->position = parent;
                    parent = child;
                }
            }
            if (parent != pos)
            {
                vector_[parent] = tmp;
                vector_[parent]->position = parent;
            }
        }

        void percolateUp(const unsigned int pos)
        {
            Element      *tmp    = vector_[pos];
            unsigned int  child  = pos;
            unsigned int  parent = (pos - 1) >> 1;

            while (child > 0 && lt_(tmp->data, vector_[parent]->data))
            {
                vector_[child] = vector_[parent];
                vector_[child]->position = child;
                child  = parent;
                parent = (parent - 1) >> 1;
            }
            if (child != pos)
            {
                vector_[child] = tmp;
                vector_[child]->position = child;
            }
        }
    };

}

#endif
