#
# Heap functions
#
# Special less than function that uses the f_val fields of states
#
def cmp_lt(xstate, ystate):
    return (xstate.f_val < ystate.f_val) 
#
# The heap library from
# http://svn.python.org/projects/python/trunk/Lib/heapq.py
#
def heappush(heap, item):
    """Push item onto heap, maintaining the heap invariant."""
    heap.append(item)
    _siftdown(heap, 0, len(heap)-1)
#
def heappop(heap):
    """Pop the smallest item off the heap, maintaining the heap invariant."""
    lastelt = heap.pop()    # raises appropriate IndexError if heap is empty
    if heap:
        returnitem = heap[0]
        heap[0] = lastelt
        _siftup(heap, 0)
    else:
        returnitem = lastelt
    return returnitem
#
def heapify(x):
    """Transform list into a heap, in-place, in O(len(heap)) time."""
    n = len(x)
    # Transform bottom-up.  The largest index there's any point to looking at
    # is the largest with a child index in-range, so must have 2*i + 1 < n,
    # or i < (n-1)/2.  If n is even = 2*j, this is (2*j-1)/2 = j-1/2 so
    # j-1 is the largest, which is n//2 - 1.  If n is odd = 2*j+1, this is
    # (2*j+1-1)/2 = j so j-1 is the largest, and that's again n//2-1.
    for i in reversed(xrange(n//2)):
        _siftup(x, i)
#
def _siftdown(heap, startpos, pos):
    newitem = heap[pos]
    # Follow the path to the root, moving parents down until finding a place
    # newitem fits.
    while pos > startpos:
        parentpos = (pos - 1) >> 1
        parent = heap[parentpos]
        if cmp_lt(newitem, parent):
            heap[pos] = parent
            pos = parentpos
            continue
        break
    heap[pos] = newitem
#
def _siftup(heap, pos):
    endpos = len(heap)
    startpos = pos
    newitem = heap[pos]
    # Bubble up the smaller child until hitting a leaf.
    childpos = 2*pos + 1    # leftmost child position
    while childpos < endpos:
        # Set childpos to index of smaller child.
        rightpos = childpos + 1
        if rightpos < endpos and not cmp_lt(heap[childpos], heap[rightpos]):
            childpos = rightpos
        # Move the smaller child up.
        heap[pos] = heap[childpos]
        pos = childpos
        childpos = 2*pos + 1
    # The leaf at pos is empty now.  Put newitem there, and bubble it up
    # to its final resting place (by sifting its parents down).
    heap[pos] = newitem
    _siftdown(heap, startpos, pos)