reformat

Sampling_based_Planning/rrt_2D/queue.py

@@ -0,0 +1,62 @@
+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