Struct controlled_astar::priority_queue::PriorityQueue

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pub struct PriorityQueue { /* private fields */ }

Expand description

Priority queue used in the A* algorithm.

Implementations§

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impl PriorityQueue

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pub fn new() -> Self

Creates a new, empty PriorityQueue.

§Returns

A new PriorityQueue instance.

§Examples

use crate::PriorityQueue;

// Create a new empty priority queue
let mut open_set = PriorityQueue::new();

// Check if the queue is empty
assert!(open_set.is_empty());

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pub fn push(&mut self, state: State)

Adds a new State to the queue.

§Parameters

state: The state to be added to the queue.

§Examples

use crate::{PriorityQueue, State};
use std::collections::HashMap;

// Create a new priority queue
let mut open_set = PriorityQueue::new();

// Create a state representing a node in the A* algorithm
let state = State {
    cost: 10, // f-score value calculated in AStar
    position: (1, 2), // position of the node in the grid
};

// Add the state to the priority queue
open_set.push(state);

// The queue should no longer be empty
assert!(!open_set.is_empty());

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pub fn pop(&mut self) -> Option<State>

Removes and returns the State with the highest priority from the queue.

§Returns

The State with the highest priority (if available) or None.

§Examples

use crate::{PriorityQueue, State};
use std::collections::HashMap;

// Create a new priority queue and add some states
let mut open_set = PriorityQueue::new();
open_set.push(State { cost: 10, position: (1, 2) });
open_set.push(State { cost: 5, position: (2, 3) }); // Lower cost, higher priority

// Remove and get the state with the highest priority
if let Some(state) = open_set.pop() {
    assert_eq!(state.cost, 5); // Lower cost should be popped first
    assert_eq!(state.position, (2, 3));
} else {
    panic!("Expected a state, but got None");
}

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pub fn is_empty(&self) -> bool

Checks if the queue is empty.

§Returns

A boolean indicating whether the queue is empty.

§Examples

use crate::{PriorityQueue, State};

// Create a new priority queue
let mut open_set = PriorityQueue::new();

// Initially, the queue should be empty
assert!(open_set.is_empty());

// Add a state to the queue
open_set.push(State { cost: 10, position: (1, 2) });

// Now the queue should not be empty
assert!(!open_set.is_empty());