costmap_queue::MapBasedQueue< item_t > Class Template Reference

Templatized interface for a priority queue. More...

#include <nav2_dwb_controller/costmap_queue/include/costmap_queue/map_based_queue.hpp>

Public Member Functions
	MapBasedQueue (bool reset_bins=true)
	Default Constructor.
virtual	~MapBasedQueue ()=default
	Default virtual Destructor.
virtual void	reset ()
	Clear the queue.
void	enqueue (const double priority, item_t item)
	Add a new item to the queue with a set priority. More...
bool	isEmpty ()
	Check to see if there is anything in the queue. More...
item_t &	front ()
	Return the item at the front of the queue. More...
void	pop ()
	Remove (and destroy) the item at the front of the queue.

Protected Types
using	ItemMap = std::map< double, std::vector< item_t > >
using	ItemMapIterator = typename ItemMap::iterator

Protected Attributes
bool	reset_bins_
ItemMap	item_bins_
unsigned int	item_count_
ItemMapIterator	iter_
ItemMapIterator	last_insert_iter_

Detailed Description

template<class item_t>
class costmap_queue::MapBasedQueue< item_t >

Templatized interface for a priority queue.

This is faster than the std::priority_queue implementation in certain cases because iterating does not require resorting after every element is examined. Based on https://github.com/ros-planning/navigation/pull/525 The relative speed of this against the priority queue depends how many items with each priority are inserted into the queue.

One additional speed up depends on the patterns of priorities during each iteration of the queue. If the same priorities are inserted into the queue on every iteration, then it is quicker to set reset_bins = false, such that the priority bins are not reset and will not have to be recreated on each iteration.

Definition at line 61 of file map_based_queue.hpp.

Member Function Documentation

enqueue()

template<class item_t >

void costmap_queue::MapBasedQueue< item_t >::enqueue ( const double  priority, item_t  item  )

inline

Add a new item to the queue with a set priority.

Parameters

priority	Priority of the item
item	Payload item

Definition at line 95 of file map_based_queue.hpp.

front()

template<class item_t >

item_t& costmap_queue::MapBasedQueue< item_t >::front ( )

inline

Return the item at the front of the queue.

Returns

The item at the front of the queue

Definition at line 139 of file map_based_queue.hpp.

isEmpty()

template<class item_t >

bool costmap_queue::MapBasedQueue< item_t >::isEmpty ( )

inline

Check to see if there is anything in the queue.

Returns

True if there is nothing in the queue

Must be called prior to front/pop.

Definition at line 130 of file map_based_queue.hpp.

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The documentation for this class was generated from the following file:

• nav2_dwb_controller/costmap_queue/include/costmap_queue/map_based_queue.hpp