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<div class="title">BinaryHeap.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2008, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_BINARY_HEAP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_DATASTRUCTURES_BINARY_HEAP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <functional></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <utility></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <cassert></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> _T, <span class="keyword">class</span> LessThan = std::less<_T>></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">class </span>BinaryHeap</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">class </span>Element</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">friend</span> <span class="keyword">class </span>BinaryHeap;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Element() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  ~Element() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> position;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  _T <a class="code" href="classompl_1_1BinaryHeap_1_1Element.html#a824930edad6908382484b0aacf62abb4">data</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  };</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1BinaryHeap.html#ae2e2ef4ecd57edb2cd78e3c41a5a9dfe">EventAfterInsert</a> = void (*)(Element *, <span class="keywordtype">void</span> *);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1BinaryHeap.html#a06e78b10045dc0bd8d8556c0dd95c961">EventBeforeRemove</a> = void (*)(Element *, <span class="keywordtype">void</span> *);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  BinaryHeap()</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  {</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  eventAfterInsert_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  eventBeforeRemove_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html"> 84</a></span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="classompl_1_1BinaryHeap.html">BinaryHeap</a>(LessThan lt) : lt_(std::move(lt))</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  eventAfterInsert_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  eventBeforeRemove_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  ~BinaryHeap()</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796">onAfterInsert</a>(<a class="code" href="classompl_1_1BinaryHeap.html#ae2e2ef4ecd57edb2cd78e3c41a5a9dfe">EventAfterInsert</a> event, <span class="keywordtype">void</span> *arg)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  eventAfterInsert_ = event;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  eventAfterInsertData_ = arg;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#a5a6368ea8193cdbf545f8a57dbaf02f5">onBeforeRemove</a>(<a class="code" href="classompl_1_1BinaryHeap.html#a06e78b10045dc0bd8d8556c0dd95c961">EventBeforeRemove</a> event, <span class="keywordtype">void</span> *arg)</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  eventBeforeRemove_ = event;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  eventBeforeRemoveData_ = arg;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>()</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &element : vector_)</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">delete</span> element;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  vector_.clear();</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  Element *<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">return</span> vector_.empty() ? nullptr : vector_.at(0);</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap_1_1Element.html"> 123</a></span>  }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#a178e694e35e7864834d765a2819256f1">pop</a>()</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  removePos(0);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02">remove</a>(Element *element)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">if</span> (eventBeforeRemove_)</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  eventBeforeRemove_(element, eventBeforeRemoveData_);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  removePos(element->position);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  Element *<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">insert</a>(<span class="keyword">const</span> _T &data)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a06e78b10045dc0bd8d8556c0dd95c961"> 142</a></span>  <span class="keyword">auto</span> *element = <span class="keyword">new</span> Element();</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  element->data = data;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = vector_.size();</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  element->position = pos;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  vector_.push_back(element);</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  percolateUp(pos);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">if</span> (eventAfterInsert_)</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  eventAfterInsert_(element, eventAfterInsertData_);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">return</span> element;</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">insert</a>(<span class="keyword">const</span> std::vector<_T> &list)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  {</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = vector_.size();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m = list.size();</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < m; ++i)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  {</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = i + n;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  Element *element = newElement(list[i], pos);</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796"> 162</a></span>  vector_.push_back(element);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  percolateUp(pos);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">if</span> (eventAfterInsert_)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  eventAfterInsert_(element, eventAfterInsertData_);</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap_1_1Element.html#a824930edad6908382484b0aacf62abb4"> 167</a></span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#ac8d1b64b5b7d50cd09380bfa14bbc45d">buildFrom</a>(<span class="keyword">const</span> std::vector<_T> &list)</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m = list.size();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < m; ++i)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  vector_.push_back(newElement(list[i], i));</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f"> 176</a></span>  build();</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#acb0b1a3d8a1f5e7852aec45bae1960dc">rebuild</a>()</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  {</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  build();</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697"> 184</a></span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3">update</a>(Element *element)</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  {</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = element->position;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  assert(vector_[pos] == element);</div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a178e694e35e7864834d765a2819256f1"> 190</a></span>  percolateUp(pos);</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  percolateDown(pos);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02"> 196</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">return</span> vector_.empty();</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1BinaryHeap.html#af624f87ff25d2e31f08afb6b4c1b4fc4">size</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> vector_.size();</div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274"> 204</a></span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(std::vector<_T> &content)<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &element : vector_)</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  content.push_back(element->data);</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1BinaryHeap.html#ad782d92c652443841ebc310d778a22f0">sort</a>(std::vector<_T> &list)</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  {</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = list.size();</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  std::vector<Element *> backup = vector_;</div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a275aa4aab2088b38df1fa2fd2827fffe"> 218</a></span>  vector_.clear();</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < n; ++i)</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  vector_.push_back(newElement(list[i], i));</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  build();</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  list.clear();</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  list.reserve(n);</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < n; ++i)</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  {</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  list.push_back(vector_[0]->data);</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  removePos(0);</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  }</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  vector_ = backup;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#ac8d1b64b5b7d50cd09380bfa14bbc45d"> 234</a></span>  LessThan &<a class="code" href="classompl_1_1BinaryHeap.html#a99e2aec266c1746cf0f16aa763d00d7f">getComparisonOperator</a>()</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  {</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">return</span> lt_;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  LessThan lt_;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  std::vector<Element *> vector_;</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#acb0b1a3d8a1f5e7852aec45bae1960dc"> 244</a></span>  <a class="code" href="classompl_1_1BinaryHeap.html#ae2e2ef4ecd57edb2cd78e3c41a5a9dfe">EventAfterInsert</a> eventAfterInsert_;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordtype">void</span> *eventAfterInsertData_;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <a class="code" href="classompl_1_1BinaryHeap.html#a06e78b10045dc0bd8d8556c0dd95c961">EventBeforeRemove</a> eventBeforeRemove_;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordtype">void</span> *eventBeforeRemoveData_;</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordtype">void</span> removePos(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos)</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3"> 250</a></span>  {</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> n = vector_.size() - 1;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">delete</span> vector_[pos];</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">if</span> ((<span class="keywordtype">int</span>)pos < n)</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  {</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  vector_[pos] = vector_.back();</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  vector_[pos]->position = pos;</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  vector_.pop_back();</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  percolateDown(pos);</div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92"> 259</a></span>  }</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  vector_.pop_back();</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  }</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  Element *newElement(<span class="keyword">const</span> _T &data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos)<span class="keyword"> const</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#af624f87ff25d2e31f08afb6b4c1b4fc4"> 265</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keyword">auto</span> *element = <span class="keyword">new</span> Element();</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  element->data = data;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  element->position = pos;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span> element;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f"> 271</a></span>  </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordtype">void</span> build()</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  {</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = vector_.size() / 2 - 1; i >= 0; --i)</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  percolateDown(i);</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  }</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#ad782d92c652443841ebc310d778a22f0"> 278</a></span>  <span class="keywordtype">void</span> percolateDown(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos)</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  {</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = vector_.size();</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  Element *tmp = vector_[pos];</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> parent = pos;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> child = (pos + 1) << 1;</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  </div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">while</span> (child < n)</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  {</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">if</span> (lt_(vector_[child - 1]->data, vector_[child]->data))</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  --child;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">if</span> (lt_(vector_[child]->data, tmp->data))</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  {</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  vector_[parent] = vector_[child];</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  vector_[parent]->position = parent;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  }</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  parent = child;</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  child = (child + 1) << 1;</div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classompl_1_1BinaryHeap.html#a99e2aec266c1746cf0f16aa763d00d7f"> 298</a></span>  }</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">if</span> (child == n)</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  {</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  --child;</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">if</span> (lt_(vector_[child]->data, tmp->data))</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  {</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  vector_[parent] = vector_[child];</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  vector_[parent]->position = parent;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  parent = child;</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  }</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  }</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">if</span> (parent != pos)</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  {</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  vector_[parent] = tmp;</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  vector_[parent]->position = parent;</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  }</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  }</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">void</span> percolateUp(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos)</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  {</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  Element *tmp = vector_[pos];</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> child = pos;</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> parent = (pos - 1) >> 1;</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordflow">while</span> (child > 0 && lt_(tmp->data, vector_[parent]->data))</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  {</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  vector_[child] = vector_[parent];</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  vector_[child]->position = child;</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  child = parent;</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  parent = (parent - 1) >> 1;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">if</span> (child != pos)</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  {</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  vector_[child] = tmp;</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  vector_[child]->position = child;</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  }</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  };</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> }</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_ad782d92c652443841ebc310d778a22f0"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#ad782d92c652443841ebc310d778a22f0">ompl::BinaryHeap::sort</a></div><div class="ttdeci">void sort(std::vector< _T > &list)</div><div class="ttdoc">Sort an array of elements. This does not affect the content of the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00278">BinaryHeap.h:278</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a99e2aec266c1746cf0f16aa763d00d7f"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a99e2aec266c1746cf0f16aa763d00d7f">ompl::BinaryHeap::getComparisonOperator</a></div><div class="ttdeci">LessThan & getComparisonOperator()</div><div class="ttdoc">Return a reference to the comparison operator.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00298">BinaryHeap.h:298</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a5d1ecb7a7d154ad44df98a5109738697"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">ompl::BinaryHeap::top</a></div><div class="ttdeci">Element * top() const</div><div class="ttdoc">Return the top element. nullptr for an empty heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00184">BinaryHeap.h:184</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a178e694e35e7864834d765a2819256f1"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a178e694e35e7864834d765a2819256f1">ompl::BinaryHeap::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdoc">Remove the top element.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00190">BinaryHeap.h:190</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a5a6368ea8193cdbf545f8a57dbaf02f5"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a5a6368ea8193cdbf545f8a57dbaf02f5">ompl::BinaryHeap::onBeforeRemove</a></div><div class="ttdeci">void onBeforeRemove(EventBeforeRemove event, void *arg)</div><div class="ttdoc">Set the event that gets called before a removal.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00169">BinaryHeap.h:169</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_1_1Element_html_a824930edad6908382484b0aacf62abb4"><div class="ttname"><a href="classompl_1_1BinaryHeap_1_1Element.html#a824930edad6908382484b0aacf62abb4">ompl::BinaryHeap::Element::data</a></div><div class="ttdeci">_T data</div><div class="ttdoc">The data of this element.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00167">BinaryHeap.h:167</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_acb0b1a3d8a1f5e7852aec45bae1960dc"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#acb0b1a3d8a1f5e7852aec45bae1960dc">ompl::BinaryHeap::rebuild</a></div><div class="ttdeci">void rebuild()</div><div class="ttdoc">Rebuild the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00244">BinaryHeap.h:244</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_addf7a2e9d0cc43dd05659686f58d695f"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">ompl::BinaryHeap::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00176">BinaryHeap.h:176</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a442b00d357e3c2859c40169ed0817b92"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">ompl::BinaryHeap::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdoc">Check if the heap is empty.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00259">BinaryHeap.h:259</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html"><div class="ttname"><a href="classompl_1_1BinaryHeap.html">ompl::BinaryHeap</a></div><div class="ttdoc">This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome,...</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00084">BinaryHeap.h:84</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_ac7bc9e22fbcbad4ea5dfd20b34ef348f"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">ompl::BinaryHeap::getContent</a></div><div class="ttdeci">void getContent(std::vector< _T > &content) const</div><div class="ttdoc">Get the data stored in this heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00271">BinaryHeap.h:271</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a06e78b10045dc0bd8d8556c0dd95c961"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a06e78b10045dc0bd8d8556c0dd95c961">ompl::BinaryHeap::EventBeforeRemove</a></div><div class="ttdeci">void(*)(Element *, void *) EventBeforeRemove</div><div class="ttdoc">Event that gets called just before a removal.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00142">BinaryHeap.h:142</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a7712c8909b596a4d12e0080960bd0274"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">ompl::BinaryHeap::insert</a></div><div class="ttdeci">Element * insert(const _T &data)</div><div class="ttdoc">Add a new element.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00204">BinaryHeap.h:204</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a56848811174698cd9a907e1128e6ce02"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02">ompl::BinaryHeap::remove</a></div><div class="ttdeci">void remove(Element *element)</div><div class="ttdoc">Remove a specific element.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00196">BinaryHeap.h:196</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_ac8d1b64b5b7d50cd09380bfa14bbc45d"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#ac8d1b64b5b7d50cd09380bfa14bbc45d">ompl::BinaryHeap::buildFrom</a></div><div class="ttdeci">void buildFrom(const std::vector< _T > &list)</div><div class="ttdoc">Clear the heap, add the set of elements list to it and rebuild it.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00234">BinaryHeap.h:234</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_a8114dc53c4239fe0e199106386898ce3"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3">ompl::BinaryHeap::update</a></div><div class="ttdeci">void update(Element *element)</div><div class="ttdoc">Update an element in the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00250">BinaryHeap.h:250</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_ae2e2ef4ecd57edb2cd78e3c41a5a9dfe"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#ae2e2ef4ecd57edb2cd78e3c41a5a9dfe">ompl::BinaryHeap::EventAfterInsert</a></div><div class="ttdeci">void(*)(Element *, void *) EventAfterInsert</div><div class="ttdoc">Event that gets called after an insertion.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00139">BinaryHeap.h:139</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_adb5a517c064a3844a47cc873fddea796"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796">ompl::BinaryHeap::onAfterInsert</a></div><div class="ttdeci">void onAfterInsert(EventAfterInsert event, void *arg)</div><div class="ttdoc">Set the event that gets called after insertion.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00162">BinaryHeap.h:162</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html_af624f87ff25d2e31f08afb6b4c1b4fc4"><div class="ttname"><a href="classompl_1_1BinaryHeap.html#af624f87ff25d2e31f08afb6b4c1b4fc4">ompl::BinaryHeap::size</a></div><div class="ttdeci">unsigned int size() const</div><div class="ttdoc">Get the number of elements in the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BinaryHeap_8h_source.html#l00265">BinaryHeap.h:265</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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