1 heaps chapter 6 in clrs. 2 motivation router: dijkstra’s algorithm for single source shortest...
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1
Heaps
Chapter 6 in CLRS
2
Motivation
• Router: • Dijkstra’s algorithm for single
source shortest path
• Prim’s algorithm for minimum spanning trees
3
Motivation
• Want to find the shortest route from New York to San Francisco
• Model the road-map with a graph
4
A Graph G=(V,E)
V is a set of vertices
E is a set of edges (pairs of vertices)
5
Model driving distances by weights on the edges
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148
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V is a set of vertices
E is a set of edges (pairs of vertices)
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Source and destination
V is a set of vertices
E is a set of edges (pairs of vertices)
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5
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148
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7
Dijkstra’s algorithm
• Assume all weights are non-negative
• Finds the shortest path from some fixed vertex s to every other vertex
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s
s15
103
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2s3
s2
s4
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Example
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Maintain an upper bound d(v) on the shortest path to v
0
∞
∞
∞
∞
s
s15
103
1
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2s3
s2
s4
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Example
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s
s15
103
1
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2s3
s2
s4
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Maintain an upper bound d(v) on the shortest path to v
0
∞
∞
∞
∞
A node is either scanned (in S) or labeled (in Q)
Initially S = and Q = V
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s
s15
103
1
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2s3
s2
s4
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Pick a vertex v in Q with minimum d(v) and add it to S
0
∞
∞
∞
∞
Initially S = and Q = V
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s
s15
103
1
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2s3
s2
s4
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Pick a vertex v in Q with minimum d(v) and add it to S
0
∞
∞
∞
∞
Initially S = and Q = V
v
w15
For every edge (v,w) where w in Q relax(v,w)
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s
s15
103
1
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2s3
s2
s4
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Relax(v,w)
If d(v) + w(v,w) < d(w) then d(w) ← d(v) + w(v,w) π(v) ← w
0
∞
∞
∞
∞
v
w
For every edge (v,w) where w in Q relax(v,w)
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s
s15
103
1
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2s3
s2
s4
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0
∞
∞
∞
∞
S = {s}
Relax(s,s4)
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s
s15
103
1
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2s3
s2
s4
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0
∞
∞
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∞
Relax(s,s4)
S = {s}
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s
s15
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1
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2s3
s2
s4
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0
∞
∞
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∞
Relax(s,s4)Relax(s,s3)
S = {s}
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s
s15
103
1
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2s3
s2
s4
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0
∞
∞
15
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Relax(s,s4)Relax(s,s3)
S = {s}
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s
s15
103
1
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2s3
s2
s4
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0
∞
∞
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10
Relax(s,s4)Relax(s,s3)Relax(s,s1)
S = {s}
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s
s15
103
1
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2s3
s2
s4
15 8
0
5
∞
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Relax(s,s4)Relax(s,s3)Relax(s,s1)
S = {s}
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
∞
15
10
S = {s}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
∞
15
10
S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
∞
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10
S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s1,s3)
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s
s15
103
1
4
2s3
s2
s4
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0
5
∞
15
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S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s1,s3)
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
∞
15
9
S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s1,s3)Relax(s1,s2)
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
9
S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s1,s3)Relax(s1,s2)
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
9
S = {s,s1}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
9
S = {s,s1,s2}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
9
S = {s,s1,s2}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s2,s3)
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2}
Pick a vertex v in Q with minimum d(v) and add it to S
Relax(s2,s3)
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2,s3}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2,s3,s4}
Pick a vertex v in Q with minimum d(v) and add it to S
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2,s3,s4}
When Q = then the d() values are the distances from s
The π function gives the shortest path tree
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s
s15
103
1
4
2s3
s2
s4
15 8
0
5
6
15
8
S = {s,s1,s2,s3,s4}
When Q = then the d() values are the distances from s
The π function gives the shortest path tree
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Implementation of Dijkstra’s algorithm
• We need to find efficiently the vertex with minimum d() in Q
• We need to update d() values of vertices in Q
36
Required ADT
• Maintain items with keys subject to
• Insert(x,Q)• min(Q)• Deletemin(Q)• Decrease-key(x,Q,Δ)
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Required ADT
• Insert(x,Q)• min(Q)• Deletemin(Q)• Decrease-key(x,Q,Δ): Can simulate
by Delete(x,Q), insert(x-Δ,Q)
38
• Insert(x,Q)• min(Q)• Deletemin(Q)• Decrease-key(x,Q,Δ): Can simulate
by Delete(x,Q), insert(x-Δ,Q)
How many times we do these operations ?
n = |V|
n
n
m = |E|
39
Do we know an algorithm for this ADT ?
• Insert(x,Q)• min(Q)• Deletemin(Q)• Decrease-key(x,Q,Δ): Can simulate
by Delete(x,Q), insert(x-Δ,Q)Yes! Use binary search trees, we had insert and delete and also min in the dictionary data type
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Heap (min)
• Heap is A complete binary tree For any node v, both children’s keys
are larger than its key
Heap-ordered tree
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7
17
3365
1924 2629
7940
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• Representing a heap with an array Get the elements from top to
bottom, from left to right
Array Representation
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7
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3365
1924 2629
7 23 17 24 29 26 19 65 33 40 79
7940
Q
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Array Representation
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7
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1924 2629
7 23 17 24 29 26 19 65 33 40 79
7940
• Left(i): 2i+1• Right(i): 2i+2• Parent(i): (i-1)/2
Q
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Find the minimum
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7
17
3365
1924 2629
7 23 17 24 29 26 19 65 33 40 79
7940
• Return Q[0]
Q
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Delete the minimum
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7
17
3365
1924 2629
7 23 17 24 29 26 19 65 33 40 79
7940
Q
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Delete the minimum
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3365
1924 2629
23 17 24 29 26 19 65 33 40 79
7940
Q
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Delete the minimum
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79
17
3365
1924 2629
79 23 17 24 29 26 19 65 33 40
40
Q
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Delete the minimum
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17
79
3365
1924 2629
17 23 79 24 29 26 19 65 33 40
40
Q
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Delete the minimum
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17
19
3365
7924 2629
17 23 19 24 29 26 79 65 33 40
40
Q
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Delete the minimum
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17
19
3365
7924 2629
17 23 19 24 29 26 79 65 33 40
40
Q
Q[0] ← Q[size(Q)-1]
Heapify-down(Q,0)
size(Q) ← size(Q)-1
50
Heapify-down(Q,i)
Heapify-down(Q, i)
l ← left(i)
r ← right(i)
smallest ← i
if l < size(Q) and Q[l] < Q[smallest]
then smallest ← l
if r < size(Q) and Q[r] < Q[smallest]
then smallest ← r
if smallest > i then Q[i] ↔ Q[smallest]
Heapify-down(Q, smallest)
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Inserting an item
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17
19
3365
7924 2629
17 23 19 24 29 26 79 65 33 40
40
Q
Insert(15,Q)
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Inserting an item
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17
19
3365
7924 2629
17 23 19 24 29 26 79 65 33 40 15
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Q
Insert(15,Q)Q[size(Q)] ← 15
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Heapify-up(Q,size(Q))size(Q) ← size(Q) + 1
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Inserting an item
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17
19
3365
7924 2615
17 23 19 24 15 26 79 65 33 40 29
40
Q
29
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Inserting an item
15
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19
3365
7924 2623
17 15 19 24 23 26 79 65 33 40 29
40
Q
29
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Inserting an item
17
15
19
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7924 2623
15 17 19 24 23 26 79 65 33 40 29
40
Q
29
56Q
Heapify-upH
eapify-up(A, i)
while i > 0 and A[i] < A[parent(i)]
do A[i] ↔ A[parent(i)]
i ← parent(i)
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15
19
3365
7924 2623
40 29
15 17 19 24 23 26 79 65 33 40 29
57
Other operations
• Decrease-key(x,Q,Δ)• Delete(x,Q)
• Can implement them easily using heapify
Assume a pointer is given to element x (no
need to find!!
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Heapsort (Williams, Floyd, 1964)
• Put the elements in an array• Make the array into a heap• Do a deletemin and put the
deleted element at the last position of the array
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Put the elements in the heap
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79
26
3323
2924 1519
79 65 26 24 19 15 29 23 33 40 7
740
Q
60
65
79
26
3323
2924 1519
79 65 26 24 19 15 29 23 33 40 7
740
Q
Make the elements into a heap
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Make the elements into a heap
65
79
26
3323
2924 1519
79 65 26 24 19 15 29 23 33 40 7
740
Q
Heapify-down(Q,4)
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65
79
26
3323
2924 157
79 65 26 24 7 15 29 23 33 40 19
1940
Q
Heapify-down(Q,4)
63
65
79
26
3323
2924 157
79 65 26 24 7 15 29 23 33 40 19
1940
Q
Heapify-down(Q,3)
64
65
79
26
3324
2923 157
79 65 26 23 7 15 29 24 33 40 19
1940
Q
Heapify-down(Q,3)
65
65
79
26
3324
2923 157
79 65 26 23 7 15 29 24 33 40 19
1940
Q
Heapify-down(Q,2)
66
65
79
15
3324
2923 267
79 65 15 23 7 26 29 24 33 40 19
1940
Q
Heapify-down(Q,2)
67
65
79
15
3324
2923 267
79 65 15 23 7 26 29 24 33 40 19
1940
Q
Heapify-down(Q,1)
68
7
79
15
3324
2923 2665
79 7 15 23 65 26 29 24 33 40 19
1940
Q
Heapify-down(Q,1)
69
7
79
15
3324
2923 2619
79 7 15 23 19 26 29 24 33 40 65
6540
Q
Heapify-down(Q,1)
70
7
79
15
3324
2923 2619
79 7 15 23 19 26 29 24 33 40 65
6540
Q
Heapify-down(Q,0)
71
79
7
15
3324
2923 2619
7 79 15 23 19 26 29 24 33 40 65
6540
Q
Heapify-down(Q,0)
72
19
7
15
3324
2923 2679
7 19 15 23 79 26 29 24 33 40 65
6540
Q
Heapify-down(Q,0)
73
19
7
15
3324
2923 2640
7 19 15 23 40 26 29 24 33 79 65
6579
Q
Heapify-down(Q,0)
74
23
7
15
3379
2924 2619
6540
We have at most n/2 nodes heapified at height 1
How much time it takes to build the heap this way ?
We have at most n/4 nodes heapified at height 2We have at most n/8 nodes heapified at height 3
1
1 2 3 ......... ( )2 4 8 2hn n n h
O O n O n
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Summary
• We can build the heap in linear time (we already did this analysis)
• We still have to deletemin the elements one by one in order to sort that will take O(nlog(n))
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Comparison to RB / 2-3
• We can build the heap in linear time (we already did this analysis)
• If we start with unsorted elements: Can get percentiles efficiently (e.g. 10 smallest)
• Constants are smaller than in RB and 2-3
• Great for sorting• Great for priority queue (can be done
also by RB)
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