.. _program_listing_file__tmp_ws_src_octomap_dynamicEDT3D_include_dynamicEDT3D_bucketedqueue.hxx:

Program Listing for File bucketedqueue.hxx
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_dynamicEDT3D_include_dynamicEDT3D_bucketedqueue.hxx>` (``/tmp/ws/src/octomap/dynamicEDT3D/include/dynamicEDT3D/bucketedqueue.hxx``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*
    * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the University of Freiburg nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #include "bucketedqueue.h"
   
   #include "limits.h"
   
   template <class T>
   BucketPrioQueue<T>::BucketPrioQueue() {
     nextPop = buckets.end();
     count = 0;
   }
   
   template <class T>
   bool BucketPrioQueue<T>::empty() {
     return (count==0);
   }
   
   
   template <class T>
   void BucketPrioQueue<T>::push(int prio, T t) {
     buckets[prio].push(t);
     if (nextPop == buckets.end() || prio < nextPop->first) nextPop = buckets.find(prio);
     count++;
   }
   
   template <class T>
   T BucketPrioQueue<T>::pop() {
     while (nextPop!=buckets.end() && nextPop->second.empty()) ++nextPop;
   
     T p = nextPop->second.front();
     nextPop->second.pop();
     if (nextPop->second.empty()) {
       typename BucketType::iterator it = nextPop;
       nextPop++;
       buckets.erase(it);
     }
     count--;
     return p;
   }