lidar_egomotion: /home/laradmin/lar/perception/lidar_egomotion/src/mbicp/percolate.c Source File

00001 /**************************************************************************************************
00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
00008  provided that the following conditions are met:
00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
00013    conditions and the following disclaimer in the documentation and/or other materials provided
00014    with the distribution.
00015   *Neither the name of the University of Aveiro nor the names of its contributors may be used to
00016    endorse or promote products derived from this software without specific prior written permission.
00017  
00018  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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00027 /*
00028  *  This program is free software; you can redistribute it and/or modify
00029  *  it under the terms of the GNU General Public License as published by
00030  *  the Free Software Foundation; either version 2 of the License, or
00031  *  (at your option) any later version.
00032  *
00033  *  This program is distributed in the hope that it will be useful,
00034  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00035  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00036  *  GNU General Public License for more details.
00037  *
00038  *  You should have received a copy of the GNU General Public License
00039  *  along with this program; if not, write to the Free Software
00040  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00041  *
00042  */
00043 
00044 #include <stdio.h>
00045 #include "percolate.h"
00046 
00052 void swapItem(TAsoc *a, TAsoc *b){
00053         TAsoc c;
00054 
00055         c=*a;
00056         *a=*b;
00057         *b=c;
00058 }
00059 
00060 void perc_down(TAsoc a[], int i, int n) {
00061   int child; TAsoc tmp;
00062   for (tmp=a[i]; i*2 <= n; i=child) {
00063     child = i*2;
00064     if ((child != n) && (a[child+1].dist > a[child].dist))
00065       child++;
00066     if (tmp.dist < a[child].dist)
00067       a[i] = a[child];
00068     else
00069       break;
00070   }
00071   a[i] = tmp;
00072 }
00073 
00074 void heapsort(TAsoc a[], int n) {
00075   int i, j;
00076   j = n;
00077   for (i=n/2; i>0; i--)  /* BuildHeap */
00078     perc_down(a,i,j);
00079   i = 1;
00080   for (j=n; j>=2; j--) {
00081     swapItem(&a[i],&a[j]);   /* DeleteMax */
00082     perc_down(a,i,j-1);
00083   }
00084 }