Priority Queues © 2010 Goodrich, Tamassia Priority Queues 1 07/27/16 14:24 07/27/16 14:24 Priority Queues © 2010 Goodrich, Tamassia Priority Queues 1 1

Priority Queue ADT A priority queue stores a collection of entries. 07/27/16 14:24 Priority Queue ADT A priority queue stores a collection of entries. An entry is a (key, value) pair with key the priority. Main methods: insert(e) inserts an entry e. removeMin() removes the entry with smallest key. Additional methods: min() returns, but does not remove, an entry with smallest key. size(), empty(). Applications: Standby fliers Auctions Stock market © 2010 Goodrich, Tamassia Priority Queues 2

Key Order Keys in a priority queue are objects with a total order. Priority Queues 07/27/16 14:24 Key Order Keys in a priority queue are objects with a total order. Multiple entries in a priority queue can have the same key. Total order  Reflexive: x  x Antisymmetric: x  y  y  x  x = y Transitive: x  y  y  z  x  z © 2010 Goodrich, Tamassia Priority Queues 3

Priority Queue Sorting 07/27/16 14:24 Priority Queue Sorting We can use a priority queue to sort. Insert the elements into an empty priority queue. Remove the elements in sorted order with removeMin operations. The running time depends on the priority queue implementation. Algorithm PQ-Sort(S) Input sequence S Output sequence S sorted in increasing order P  priority queue while S.empty () e  S.front(); S.eraseFront() P.insert (e, ) while P.empty() e  P.removeMin() S.insertBack(e) © 2010 Goodrich, Tamassia Priority Queues 4

List Implementations Unsorted list Performance: Sorted list Priority Queues 07/27/16 14:24 List Implementations Unsorted list Performance: insert takes O(1) time since we can insert the item at the beginning or end of the sequence. removeMin and min take O(n) time since we have to traverse the entire sequence to find the smallest key. Sorted list Performance: insert takes O(n) time since we have to find the place where to insert the item. removeMin and min take O(1) time, since the smallest key is at the beginning. 4 5 2 3 1 1 2 3 4 5 © 2010 Goodrich, Tamassia Priority Queues 5

Heaps The last node of a heap is the rightmost node of maximum depth. Priority Queues Heaps 07/27/16 14:24 07/27/16 14:24 Heaps A heap is a binary tree storing keys at its nodes and satisfying the following properties. Heap-Order: for every internal node v other than the root, key(v)  key(parent(v)). Complete Binary Tree: let h be the height of the heap. For i 0, … , h 1, there are 2i nodes of depth i. At depth h  1, the internal nodes are to the left of the external nodes. The last node of a heap is the rightmost node of maximum depth. 2 5 6 9 7 last node © 2010 Goodrich, Tamassia Heaps 6 6

Height of a Heap Theorem: A heap storing n keys has height O(log n). Priority Queues 07/27/16 14:24 Height of a Heap Theorem: A heap storing n keys has height O(log n). Proof: (we apply the complete binary tree property) Let h be the height of a heap storing n keys. Since there are 2i keys at depth i  0, … , h 1 and at least one key at depth h, we have n  1 2  4  …  2h1 1. Thus, n  2h , i.e., h  log n. depth keys 1 1 2 h1 2h1 h 1 © 2010 Goodrich, Tamassia Heaps 7

Heaps and Priority Queues 07/27/16 14:24 Heaps and Priority Queues A heap can implement a priority queue. Store a (key, elt) pair at each internal node. Keep track of the position of the last node. (2, Sue) (5, Pat) (6, Mark) (9, Jeff) (7, Anna) © 2010 Goodrich, Tamassia Heaps 8

Insertion into a Heap The insertion algorithm consists of three steps. Priority Queues 07/27/16 14:24 Insertion into a Heap The insertion algorithm consists of three steps. Find the insertion node z (the new last node). Store k at z. Restore the heap-order. 2 5 6 z 9 7 insertion node 2 5 6 z 9 7 1 © 2010 Goodrich, Tamassia Heaps 9

Priority Queues 07/27/16 14:24 Updating the Last Node The new last node is found by traversing O(log n) nodes. Go up until a left child or the root is reached. If a left child is reached, go to the right child. Go down left until a leaf is reached. Similar algorithm for updating the last node after a removal. © 2010 Goodrich, Tamassia Heaps 10

Upheap z z Inserting key k may violate the heap-order property. Priority Queues 07/27/16 14:24 Upheap Inserting key k may violate the heap-order property. Algorithm upheap restores the heap-order property by swapping k along an upward path from the insertion node. Upheap terminates when the key k reaches the root or reaches a node whose parent has a key smaller than or equal to k. Since a heap has height O(log n), upheap runs in O(log n) time. Example: add 1, swap 1 with 6, swap 1 with 2. 2 1 5 1 5 2 z z 9 7 6 9 7 6 © 2010 Goodrich, Tamassia Heaps 11

Removal from a Heap The removal algorithm consists of three steps. w w Priority Queues 07/27/16 14:24 Removal from a Heap The removal algorithm consists of three steps. Replace the root key with the key of the last node w. Remove w and update the last node. Restore the heap-order. 2 5 6 w 9 7 last node 7 5 6 w 9 new last node © 2010 Goodrich, Tamassia Heaps 12

Priority Queues 07/27/16 14:24 Downheap Replacing the root key with the key k of the last node may violate the heap-order property. Algorithm downheap restores the heap-order property by swapping key k with its smaller child etc. Downheap terminates when key k reaches a leaf or reaches a node whose children have keys greater than or equal to k. Since a heap has height O(log n), downheap runs in O(log n) time. 7 5 5 6 7 6 w w 9 9 © 2010 Goodrich, Tamassia Heaps 13

Priority Queues 07/27/16 14:24 Heap-Sort Consider a heap that implements a priority queue with n items. The space used is O(n). insert and removeMin take O(log n) time. size, empty, and min take time O(1) time. pq-sort sorts n elements in O(n log n) time. This algorithm is called heap-sort. Heap-sort is much faster than quadratic sorting algorithms, but is slower than quick-sort. © 2010 Goodrich, Tamassia Heaps 14

Vector Implementation of Heap Priority Queues 07/27/16 14:24 Vector Implementation of Heap We can represent a heap with n keys by means of a vector of length n  1. The root is at index 1. For the node at index i: The left child is at index 2i. The right child is at index 2i  1. Insertion is at index n  1, removeMin is at index n. In-place heap-sort. How? 2 5 6 9 7 2 5 6 9 7 1 3 4 © 2010 Goodrich, Tamassia Heaps 15

Merging Two Heaps Input: two heaps and a key k. Priority Queues 07/27/16 14:24 Merging Two Heaps 3 2 Input: two heaps and a key k. Create a new heap with the root node storing k and with the two heaps as subtrees. Perform downheap to restore the heap-order property. 8 5 4 6 7 3 2 8 5 4 6 2 3 4 8 5 7 6 © 2010 Goodrich, Tamassia Heaps 16

Bottom-up Heap Construction Priority Queues 07/27/16 14:24 Bottom-up Heap Construction Construct a heap storing n keys bottom-up using log n phases. Phase i merges pairs of heaps with 2i 1 keys into heaps with 2i11 keys. 2i 1 2i11 © 2010 Goodrich, Tamassia Heaps 17

Priority Queues 07/27/16 14:24 Example 16 15 4 12 6 7 23 20 25 5 11 27 16 15 4 12 6 7 23 20 © 2010 Goodrich, Tamassia Heaps 18

Priority Queues 07/27/16 14:24 Example (contd.) 25 5 11 27 16 15 4 12 6 9 23 20 15 4 6 23 16 25 5 12 11 9 27 20 © 2010 Goodrich, Tamassia Heaps 19

Priority Queues 07/27/16 14:24 Example (contd.) 7 8 15 4 6 23 16 25 5 12 11 9 27 20 4 6 15 5 8 23 16 25 7 12 11 9 27 20 © 2010 Goodrich, Tamassia Heaps 20

Priority Queues 07/27/16 14:24 Example (end) 10 4 6 15 5 8 23 16 25 7 12 11 9 27 20 4 5 6 15 7 8 23 16 25 10 12 11 9 27 20 © 2010 Goodrich, Tamassia Heaps 21

Priority Queues 07/27/16 14:24 Analysis We visualize the worst-case time of downheap with a proxy path that goes first right and then repeatedly goes left until the bottom of the heap (this path may differ from the actual downheap path). Since each node is traversed by at most two proxy paths, the total number of nodes of the proxy paths is O(n). Thus, bottom-up heap construction runs in O(n) time. Bottom-up heap construction is faster than n successive insertions and speeds up the first phase of heap-sort. © 2010 Goodrich, Tamassia Heaps 22

Adaptable Priority Queues Locators Priority Queues 07/27/16 14:24 07/27/16 14:24 Location-Aware Entries A location-aware entry tracks the location of its (key, value) object within a data structure. Intuitive notion: Coat claim check Valet claim ticket Reservation number Removing an element is faster because its location is known. Entries are created by the data structure, so it can easily make them location-aware. © 2010 Goodrich, Tamassia Adaptable Priority Queues 23 23

Adaptable Priority Queues 07/27/16 14:24 Heap Implementation A location-aware heap entry stores: a key, a value, and a pointer to a heap node (or a rank). Pointers (ranks) are updated during node swaps. Removing an entry takes O(log n) time. 2 d 4 a 6 b 8 g 5 e 9 c © 2010 Goodrich, Tamassia Adaptable Priority Queues 24