init

unitree_SDK/include/dds/ddsrt/fibheap.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright(c) 2006 to 2019 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef DDSRT_FIBHEAP_H
+#define DDSRT_FIBHEAP_H
+
+#include <stdint.h>
+
+#include "dds/export.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+typedef struct ddsrt_fibheap_node {
+  struct ddsrt_fibheap_node *parent, *children;
+  struct ddsrt_fibheap_node *prev, *next;
+  unsigned mark: 1;
+  unsigned degree: 31;
+} ddsrt_fibheap_node_t;
+
+typedef struct ddsrt_fibheap_def {
+    uintptr_t offset;
+    int (*cmp) (const void *va, const void *vb);
+} ddsrt_fibheap_def_t;
+
+typedef struct ddsrt_fibheap {
+  ddsrt_fibheap_node_t *roots; /* points to root with min key value */
+} ddsrt_fibheap_t;
+
+#define DDSRT_FIBHEAPDEF_INITIALIZER(offset, cmp) { (offset), (cmp) }
+
+DDS_EXPORT void ddsrt_fibheap_def_init (ddsrt_fibheap_def_t *fhdef, uintptr_t offset, int (*cmp) (const void *va, const void *vb));
+DDS_EXPORT void ddsrt_fibheap_init (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *fh);
+DDS_EXPORT void *ddsrt_fibheap_min (const ddsrt_fibheap_def_t *fhdef, const ddsrt_fibheap_t *fh);
+DDS_EXPORT void ddsrt_fibheap_merge (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *a, ddsrt_fibheap_t *b);
+DDS_EXPORT void ddsrt_fibheap_insert (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *fh, const void *vnode);
+DDS_EXPORT void ddsrt_fibheap_delete (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *fh, const void *vnode);
+DDS_EXPORT void *ddsrt_fibheap_extract_min (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *fh);
+DDS_EXPORT void ddsrt_fibheap_decrease_key (const ddsrt_fibheap_def_t *fhdef, ddsrt_fibheap_t *fh, const void *vnode); /* to be called AFTER decreasing the key */
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_FIBHEAP_H */