/*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/

#ifndef PCL_PGU_DEVICE_ALGORITHM_HPP_
#define PCL_PGU_DEVICE_ALGORITHM_HPP_

namespace pcl
{
    namespace device
    {
        template <class T> 
        __device__ __host__ __forceinline__ void swap ( T& a, T& b )
        {
          T c(a); a=b; b=c;
        }
        
        template<typename Iterator, typename T, typename BinaryPredicate>
        __host__ __device__ Iterator lower_bound(Iterator first, Iterator last, const T &val, BinaryPredicate comp)
        {  
            int len = last - first;

            while(len > 0)
            {
                int half = len >> 1;
                Iterator middle = first;

                middle += half;

                if(comp(*middle, val))
                {
                    first = middle;
                    ++first;
                    len -= half + 1;
                }
                else
                {
                    len = half;
                }
            }
            return first;
        }
    }
}
#endif /* PCL_PGU_DEVICE_ALGORITHM_HPP_ */