disjoint_set.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
namespace apollo {
namespace perception {
namespace lidar {
 
template <class T>
void DisjointSetMakeSet(T* x) {
  x->parent = x;
  x->node_rank = 0;
}
 
template <class T>
T* DisjointSetFindRecursive(T* x) {
  if (x->parent != x) {
    x->parent = DisjointSetFindRecursive(x->parent);
  }
  return x->parent;
}
 
template <class T>
T* DisjointSetFindLoop(T* x) {
  T* y = x;
  while (y->parent != y) {
    y = y->parent;
  }
 
  T* w = x;
  T* temp = x;
  while (w->parent != w) {
    temp = w->parent;
    w->parent = y;
    w = temp;
  }
 
  return y;
}
 
template <class T>
T* DisjointSetFind(T* x) {
  T* y = x->parent;
  if (y == x || y->parent == y) {
    return y;
  }
  T* root = DisjointSetFindLoop(y->parent);
  x->parent = root;
  y->parent = root;
  return root;
}
 
template <class T>
void DisjointSetMerge(T* x, const T* y) {}
 
template <class T>
void DisjointSetUnion(T* x, T* y) {
  x = DisjointSetFind(x);
  y = DisjointSetFind(y);
  if (x == y) {
    return;
  }
  if (x->node_rank < y->node_rank) {
    x->parent = y;
    // DisjointSetMerge(y, x);
  } else if (y->node_rank < x->node_rank) {
    y->parent = x;
    // DisjointSetMerge(x, y);
  } else {
    y->parent = x;
    x->node_rank++;
    // DisjointSetMerge(x, y);
  }
}
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo