97 lines
3.7 KiB
C++
97 lines
3.7 KiB
C++
/* Copyright 2019-2021 The MathWorks, Inc. */
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#ifndef PRIORITYQUEUE_CODEGEN_API_HPP
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#define PRIORITYQUEUE_CODEGEN_API_HPP
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#ifdef BUILDING_LIBMWPRIORITYQUEUECODEGEN
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#include "priorityqueuecodegen/priorityqueue_codegen_util.hpp"
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#else
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/* To deal with the fact that PackNGo has no include file hierarchy during test */
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#include "priorityqueue_codegen_util.hpp"
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#endif
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/** Construct PriorityQueueImpl object and returns its pointer. **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void* priorityqueuecodegen_constructPQ(const real64_T dim,
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const real64_T primeIdx);
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/** Destruct nav::PriorityQueueImpl **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_destructPQ(void* objPtr);
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/** Push a node onto the priority queue **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_push(void* objPtr, const real64_T* newNode);
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/** Return the lowest cost node in the priority queue. **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_top(void* objPtr, real64_T* topNode, real64_T* nodeId);
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/** Remove the lowest cost node from the priority queue. **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_pop(void* objPtr);
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/** Return the size of the priority queue. **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_size(void* objPtr);
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/** Check if the priority queue is empty or not. */
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EXTERN_C PRIORITYQUEUE_CODEGEN_API boolean_T priorityqueuecodegen_isEmpty(void* objPtr);
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/** Get the data dimension **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_getDataDim(void* objPtr);
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// nav::NodeMap
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/** Construct nav::NodeMap object and returns its pointer. */
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void* priorityqueuecodegen_constructNodeMap(const real64_T dim);
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/** Destruct nav::NodeMap **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_destructNodeMap(void* objPtr);
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/** Get the data dimension **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_nodemap_getDataDim(void* objPtr);
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/** Get the number of nodes **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_nodemap_getNumNodes(void* objPtr);
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/** Trace back the path from a given node to the root node **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_nodemap_traceBack(void* objPtr,
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const real64_T idx,
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real64_T* pathNodeData,
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real64_T* numPathNodes);
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/** Create two new maps: 1) newNodeId --> parentId, 2) newNodeId --> newNodeData **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_nodemap_insertNode(void* objPtr,
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const real64_T* newNodeData,
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const real64_T parentId);
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/** Return data associated with the given nodeId **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_nodemap_getNodeData(void* objPtr,
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const real64_T nodeId,
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real64_T* data,
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real64_T* parentId);
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// nav::SimpleMap
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/** Construct nav::SimpleMap and returns its pointer. **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void* priorityqueuecodegen_constructSimpleMap(const real64_T dim);
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/** Destruct nav::SimpleMap **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_destructSimpleMap(void* objPtr);
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/** Get data dimension **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_simplemap_getDataDim(void* objPtr);
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/** Get size of the map **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API real64_T priorityqueuecodegen_simplemap_getSize(void* objPtr);
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/** Associate data with the given id **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_simplemap_insertData(void* objPtr,
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const real64_T id,
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const real64_T* neweData);
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/** Return data associated with the given id **/
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EXTERN_C PRIORITYQUEUE_CODEGEN_API void priorityqueuecodegen_simplemap_getData(void* objPtr,
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const real64_T nodeId,
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real64_T* data);
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#endif
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