PathPlanning/Sampling_based_Planning/rrt_2D/queue.py

import collections
import heapq


class QueueFIFO:
    """
    Class: QueueFIFO
    Description: QueueFIFO is designed for First-in-First-out rule.
    """

    def __init__(self):
        self.queue = collections.deque()

    def empty(self):
        return len(self.queue) == 0

    def put(self, node):
        self.queue.append(node)  # enter from back

    def get(self):
        return self.queue.popleft()  # leave from front


class QueueLIFO:
    """
    Class: QueueLIFO
    Description: QueueLIFO is designed for Last-in-First-out rule.
    """

    def __init__(self):
        self.queue = collections.deque()

    def empty(self):
        return len(self.queue) == 0

    def put(self, node):
        self.queue.append(node)  # enter from back

    def get(self):
        return self.queue.pop()  # leave from back


class QueuePrior:
    """
    Class: QueuePrior
    Description: QueuePrior reorders elements using value [priority]
    """

    def __init__(self):
        self.queue = []

    def empty(self):
        return len(self.queue) == 0

    def put(self, item, priority):
        heapq.heappush(self.queue, (priority, item))  # reorder x using priority

    def get(self):
        return heapq.heappop(self.queue)[1]  # pop out the smallest item

    def enumerate(self):
        return self.queue