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<title>OMPL: ompl::BinaryHeap< _T, LessThan > Class Template Reference</title>
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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<div class="title">ompl::BinaryHeap< _T, LessThan > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::BinaryHeap" -->
<p>This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the <a class="el" href="classompl_1_1BinaryHeap_1_1Element.html" title="When an element is added to the heap, an instance of Element* is created. This instance contains the ...">BinaryHeap::Element</a>* type, however, it should be as fast as it gets with an updatable heap.
<a href="classompl_1_1BinaryHeap.html#details">More...</a></p>
<p><code>#include <<a class="el" href="BinaryHeap_8h_source.html">BinaryHeap.h</a>></code></p>
<p><a href="classompl_1_1BinaryHeap-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="classompl_1_1BinaryHeap_1_1Element.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afd217208dc62566489216f0c5a172259"></a><!-- doxytag: member="ompl::BinaryHeap::EventAfterInsert" ref="afd217208dc62566489216f0c5a172259" args=")(Element *, void *)" -->
typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#afd217208dc62566489216f0c5a172259">EventAfterInsert</a> )(<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> *, void *)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event that gets called after an insertion. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a35877aaf27acdf33af11defd5ddc3d61"></a><!-- doxytag: member="ompl::BinaryHeap::EventBeforeRemove" ref="a35877aaf27acdf33af11defd5ddc3d61" args=")(Element *, void *)" -->
typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a35877aaf27acdf33af11defd5ddc3d61">EventBeforeRemove</a> )(<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> *, void *)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event that gets called just before a removal. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adb5a517c064a3844a47cc873fddea796"></a><!-- doxytag: member="ompl::BinaryHeap::onAfterInsert" ref="adb5a517c064a3844a47cc873fddea796" args="(EventAfterInsert event, void *arg)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#adb5a517c064a3844a47cc873fddea796">onAfterInsert</a> (<a class="el" href="classompl_1_1BinaryHeap.html#afd217208dc62566489216f0c5a172259">EventAfterInsert</a> event, void *arg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the event that gets called after insertion. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a6368ea8193cdbf545f8a57dbaf02f5"></a><!-- doxytag: member="ompl::BinaryHeap::onBeforeRemove" ref="a5a6368ea8193cdbf545f8a57dbaf02f5" args="(EventBeforeRemove event, void *arg)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a5a6368ea8193cdbf545f8a57dbaf02f5">onBeforeRemove</a> (<a class="el" href="classompl_1_1BinaryHeap.html#a35877aaf27acdf33af11defd5ddc3d61">EventBeforeRemove</a> event, void *arg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the event that gets called before a removal. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a318edd8b65126de610e0f11138f8c147"></a><!-- doxytag: member="ompl::BinaryHeap::clear" ref="a318edd8b65126de610e0f11138f8c147" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a318edd8b65126de610e0f11138f8c147">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4288f352550d26811383a45b2a9fb6e7"></a><!-- doxytag: member="ompl::BinaryHeap::top" ref="a4288f352550d26811383a45b2a9fb6e7" args="(void) const " -->
<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a4288f352550d26811383a45b2a9fb6e7">top</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the top element. NULL for an empty heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75ced2f3f0f1434045afe4d73ee60482"></a><!-- doxytag: member="ompl::BinaryHeap::pop" ref="a75ced2f3f0f1434045afe4d73ee60482" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a75ced2f3f0f1434045afe4d73ee60482">pop</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove the top element. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a56848811174698cd9a907e1128e6ce02"></a><!-- doxytag: member="ompl::BinaryHeap::remove" ref="a56848811174698cd9a907e1128e6ce02" args="(Element *element)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a56848811174698cd9a907e1128e6ce02">remove</a> (<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> *element)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove a specific element. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7712c8909b596a4d12e0080960bd0274"></a><!-- doxytag: member="ompl::BinaryHeap::insert" ref="a7712c8909b596a4d12e0080960bd0274" args="(const _T &data)" -->
<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">insert</a> (const _T &data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new element. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a275aa4aab2088b38df1fa2fd2827fffe"></a><!-- doxytag: member="ompl::BinaryHeap::insert" ref="a275aa4aab2088b38df1fa2fd2827fffe" args="(const std::vector< _T > &list)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a275aa4aab2088b38df1fa2fd2827fffe">insert</a> (const std::vector< _T > &list)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a set of elements to the heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac8d1b64b5b7d50cd09380bfa14bbc45d"></a><!-- doxytag: member="ompl::BinaryHeap::buildFrom" ref="ac8d1b64b5b7d50cd09380bfa14bbc45d" args="(const std::vector< _T > &list)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#ac8d1b64b5b7d50cd09380bfa14bbc45d">buildFrom</a> (const std::vector< _T > &list)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the heap, add the set of elements <em>list</em> to it and rebuild it. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa1e483f2aea8cacf7f0ae4587d212eb2"></a><!-- doxytag: member="ompl::BinaryHeap::rebuild" ref="aa1e483f2aea8cacf7f0ae4587d212eb2" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#aa1e483f2aea8cacf7f0ae4587d212eb2">rebuild</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8114dc53c4239fe0e199106386898ce3"></a><!-- doxytag: member="ompl::BinaryHeap::update" ref="a8114dc53c4239fe0e199106386898ce3" args="(Element *element)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a8114dc53c4239fe0e199106386898ce3">update</a> (<a class="el" href="classompl_1_1BinaryHeap_1_1Element.html">Element</a> *element)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Update an element in the heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a486a10e941494a63e5dea950e90f39bf"></a><!-- doxytag: member="ompl::BinaryHeap::empty" ref="a486a10e941494a63e5dea950e90f39bf" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a486a10e941494a63e5dea950e90f39bf">empty</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the heap is empty. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af04187686dd607db2bca3e8bf45b8d12"></a><!-- doxytag: member="ompl::BinaryHeap::size" ref="af04187686dd607db2bca3e8bf45b8d12" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#af04187686dd607db2bca3e8bf45b8d12">size</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of elements in the heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a47cbd6ea3b6aa270825ed29a850ffc30"></a><!-- doxytag: member="ompl::BinaryHeap::getContent" ref="a47cbd6ea3b6aa270825ed29a850ffc30" args="(std::vector< _T > &content) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#a47cbd6ea3b6aa270825ed29a850ffc30">getContent</a> (std::vector< _T > &content) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the data stored in this heap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad782d92c652443841ebc310d778a22f0"></a><!-- doxytag: member="ompl::BinaryHeap::sort" ref="ad782d92c652443841ebc310d778a22f0" args="(std::vector< _T > &list)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1BinaryHeap.html#ad782d92c652443841ebc310d778a22f0">sort</a> (std::vector< _T > &list)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sort an array of elements. This does not affect the content of the heap. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><h3>template<typename _T, class LessThan = std::less<_T>><br/>
class ompl::BinaryHeap< _T, LessThan ></h3>
<p>This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the <a class="el" href="classompl_1_1BinaryHeap_1_1Element.html" title="When an element is added to the heap, an instance of Element* is created. This instance contains the ...">BinaryHeap::Element</a>* type, however, it should be as fast as it gets with an updatable heap. </p>
<p>Definition at line <a class="el" href="BinaryHeap_8h_source.html#l00053">53</a> of file <a class="el" href="BinaryHeap_8h_source.html">BinaryHeap.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/datastructures/<a class="el" href="BinaryHeap_8h_source.html">BinaryHeap.h</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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