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An essential aspect to data structures is algorithms

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.Data structures are implemented using algorithms. An algorithmis a procedure that you can write as a C function or program, orany other language. An algorithm states explicitly how the data willbe manipulated.

Algorithm Efficiency

Some algorithms are more efficient than others. We would prefer tochose an efficient algorithm, so it would be nice to have metrics forcomparing algorithm efficiency.

The complexity of an algorithm is a function describing the efficiencyof the algorithm in terms of the amount of data the algorithm must process.Usually there are natural units for the domain and range of this function.There are two main complexity measures of the efficiency of an algorithm:

  • Time complexity is a function describing the amount of timean algorithm takes in terms of the amount of input to the algorithm. 'Time' can mean the number of memory accesses performed, the number of comparisons between integers, the number of times some inner loop is executed, or some other natural unit related to the amount of real timethe algorithm will take. We try to keep this idea of time separate from'wall clock' time, since many factors unrelated to the algorithm itselfcan affect the real time (like the language used, type of computing hardware,proficiency of the programmer, optimization in the compiler, etc.).It turns out that, if we chose the units wisely, all of the otherstuff doesn't matter and we can get an independent measure of theefficiency of the algorithm.
  • Space complexity is a function describing the amount ofmemory (space) an algorithm takes in terms of the amount of inputto the algorithm. We often speak of 'extra' memory needed, not countingthe memory needed to store the input itself. Again, we use natural(but fixed-length) units to measure this. We can use bytes, but it'seasier to use, say, number of integers used, number of fixed-sizedstructures, etc. In the end, the function we come up with will beindependent of the actual number of bytes needed to represent the unit.Space complexity is sometimes ignored because the space used is minimaland/or obvious, but sometimes it becomes as important an issue as time.
For example, we might say 'this algorithm takes n2time,' where n is the number of items in the input. Or wemight say 'this algorithm takes constant extra space,' because the amount of extra memory needed doesn't vary with the number of items processed.

For both time and space, we are interested in the asymptoticcomplexity of the algorithm: When n (the number of items of input)goes to infinity, what happens to the performance of the algorithm?

An example: Selection Sort

Suppose we want to put an array of nfloating point numbers into ascending numerical order. This task is calledsorting and should be somewhat familiar. One simple algorithm forsorting is selection sort. You let an index i go from0 to n-1, exchanging the ith element of the array with theminimum element from i up to n. Here are the iterationsof selection sort carried out on the sequence {4 3 9 6 1 7 0}:Here is a simple implementation in C:Now we want to quantify the performance of the algorithm, i.e., the amount of time andspace taken in terms of n. We are mainly interested inhow the time and space requirements change as n grows large;sorting 10 items is trivial for almost any reasonable algorithmyou can think of, but what about 1,000, 10,000, 1,000,000 or moreitems?

For this example, the amount of space needed is clearly dominated bythe memory consumed by the array, so we don't have to worry about it;if we can store the array, we can sort it. That is, it takesconstant extra space.

So we are mainly interested in the amount of time the algorithm takes.One approach is to count the number of array accesses madeduring the execution of the algorithm; since each array access takes acertain (small) amount of time related to the hardware, this countis proportional to the time the algorithm takes.

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We will end up with a function in terms of n thatgives us the number of array accesses for the algorithm. We'll callthis function T(n), for Time.

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T(n) is the total number of accesses made from thebeginning of selection_sort until the end. selection_sortitself simply calls swap and find_min_index as igoes from 0 to n-1, so

T(n) = [ time for swap + time for find_min_index (v, i, n)] .
(n-2 because the for loop goes from 0 up to but not includingn-1). (Note: for those not familiar with Sigma notation,that nasty looking formula above just means 'the sum, as we let igo from 0 to n-2, of the time for swap plus the timefor find_min_index (v, i, n).)The swap function makes four accesses to the array, so the functionis now
T(n) = [ 4 + time for find_min_index (v, i, n)] .
If we look at find_min_index, we see it does two array accessesfor each iteration through the for loop, and it does the for loop n - i - 1 times:
T(n) = [ 4 + 2 (n - i - 1)] .
With some mathematical manipulation, we can break this up into:
T(n) = 4(n-1) + 2n(n-1) - 2(n-1) -2 i .
(everything times n-1 because we go from 0 to n-2, i.e., n-1 times).Remembering that the sum of i as i goes from 0 to nis (n(n+1))/2, then substituting in n-2and cancelling out the 2's:
T(n) = 4(n-1) + 2n(n-1) - 2(n-1) -((n-2)(n-1)).
and to make a long story short,
T(n) = n2 + 3n - 4 .
So this function gives us the number of array accesses selection_sortmakes for a given array size, and thus an idea of the amount of timeit takes. There are other factors affecting the performance, for instancethe loop overhead, other processes running on the system, and the factthat access time to memory is not really a constant. But this kindof analysis gives you a good idea of the amount of time you'll spendwaiting, and allows you to compare this algorithms to other algorithmsthat have been analyzed in a similar way.

Another algorithm used for sorting is called merge sort. The detailsare somewhat more complicated and will be covered later in the course,but for now it's sufficient to state that a certain C implementationtakes Tm(n) = 8n log n memory accessesto sort n elements. Let's look at a table of T(n)vs. Tm(n):T(n) seems to outperform Tm(n) here, so at first glanceone might think selection sort is better than merge sort. But if weextend the table:we see that merge sort starts to take a little less time than selectionsort for larger values of n. If we extend the table to largevalues:we see that merge sort does much better than selection sort. To put thisin perspective, recall that a typical memory access is done on the orderof nanoseconds, or billionths of a second. Selection sort on ten millionitems takes roughly 100 trillion accesses; if each one takes ten nanoseconds(an optimistic assumption based on 1998 hardware) it will take 1,000,000 seconds, or about 11 and a half days to complete. Merge sort,with a 'mere' 1.2 billion accesses, will be done in 12 seconds. Fora billion elements, selection sort takes almost 32,000 years, whilemerge sort takes about 37 minutes. And, assuming a large enough RAMsize, a trillion elements will take selection sort 300 million years,while merge sort will take 32 days. Since computer hardware is notresilient to the large asteroids that hit our planet roughly onceevery 100 million years causing mass extinctions, selection sort is not feasible for this task. (Note: you willnotice as you study CS that computer scientists like to put thingsin astronomical and geological terms when trying to show an approachis the wrong one. Just humor them.)

Asymptotic Notation

This function we came up with,T(n) = n2 + 3n - 4,describes precisely the number of array accesses made in the algorithm.In a sense, it is a little too precise; all we really need to sayis n2; the lower order terms contribute almost nothingto the sum when n is large. We would like a way to justifyignoring those lower order terms and to make comparisons between algorithmseasy. So we use asymptotic notation.

Big O

The most common notation used is 'big O' notation. In the aboveexample, we would say n2 + 3n - 4 = O(n2) (read 'big oh of n squared').This means, intuitively, that the important part of n2 + 3n - 4 is the n2part.
Definition: Let f(n) and g(n)be functions, where n is a positive integer. We writef(n) = O(g(n)) if and only if there exists a real number c and positiveinteger n0 satisfying 0 <= f(n) <= cg(n) forall n >= n0. (And we say,'f of n is big oh of g of n.' We might also say or writef(n) is inO(g(n)),because we can think of O as a set of functions allwith the same property. But we won't often do that in Data Structures.)
This means that, for example, that functions liken2 + n, 4n2 - n log n + 12, n2/5 - 100n,n log n, 50n, and so forth are allO(n2).Every function f(n) bounded above by some constant multipleg(n) for all values of n greater than a certain valueis O(g(n)).

Examples:

  • Show 3n2 + 4n - 2 = O(n2).
    We need to find c and n0 such that:
    3n2 + 4n - 2 <= cn2 for all n >= n0 .
    Divide both sides by n2, getting:
    3 + 4/n - 2/n2 <= c for all n >= n0 .
    If we choose n0 equal to 1, then we need a value ofc such that:
    3 + 4 - 2 <= c
    We can set c equal to 6. Now we have:
    3n2 + 4n - 2 <= 6n2 for all n >= 1 .
  • Show n3 != O(n2).Let's assume to the contrary that
    n3 = O(n2)
    Then there must exist constants c and n0 such that
    n3 <= cn2 for all n >=n0.
    Dividing by n2, we get:
    n <= c for all n >= n0.
    But this is not possible; we can never choose a constant clarge enough that n will never exceed it, since ncan grow without bound. Thus, the original assumption, thatn3 = O(n2), mustbe wrong so n3 != O(n2).
Big O gives us a formal way of expressing asymptotic upper bounds,a way of bounding from above the growth of a function. Knowing wherea function falls within the big-O hierarchy allows us to compare itquickly with other functions and gives us an idea of which algorithm hasthe best time performance. And yes, there is also a 'little o' we'llsee later.

Properties of Big O

The definition of big O is pretty ugly to have to work with all the time,kind of like the 'limit' definition of a derivative in Calculus.Here are some helpful theorems you can use to simplify big O calculations:
  • Any kth degree polynomial is O(nk).
  • a nk = O(nk) for anya > 0.
  • Big O is transitive. That is, if f(n)= O(g(n)) and g(n)is O(h(n)), then f(n) = O(h(n)).
  • logan = O(logbn) for any a, b > 1. This practically meansthat we don't care, asymptotically, what base we take our logarithms to.(I said asymptotically. In a few cases, it does matter.)
  • Big O of a sum of functions is big O of the largest function.How do you know which one is the largest? The one that all the othersare big O of. One consequence of this is, if f(n)= O(h(n)) and g(n)is O(h(n)), then f(n) +g(n) = O(h(n)).
  • f(n) = O(g(n)) is true if limn->infinityf(n)/g(n)is a constant.

Lower Bounds and Tight Bounds

Big O only gives you an upper bound on a function, i.e., if we ignoreconstant factors and let n get big enough, we know some function will never exceed some other function. But this can give us too muchfreedom. For instance, the time for selection sort is easilyO(n3), because n2is O(n3). But we know thatO(n2) is a more meaningful upper bound.What we need is to be able to describe a lower bound, a functionthat always grows more slowly than f(n), and a tight bound, a function that grows at about the same rate asf(n). Your book give a good theoretical introductionto these two concepts; let's look at a different (and probably easierto understand) way to approach this.

Big Omega is for lower bounds what big O is for upper bounds:

Definition: Let f(n) and g(n)be functions, where n is a positive integer. We writef(n) = (g(n))if and only if g(n) = O(f(n)).We say 'f of n is omega of g of n.'
This means g is a lower bound for f; after acertain value of n, and without regard to multiplicativeconstants, f will never go below g.

Finally, theta notation combines upper bounds with lower bounds to gettight bounds:

Definition: Let f(n) and g(n)be functions, where n is a positive integer. We writef(n) = (g(n))if and only if g(n) = O(f(n)).and g(n) = (f(n)).We say 'f of n is theta of g of n.'

More Properties

  • The first four properties listed above for big O are also truefor Omega and Theta.
  • Replace O with and'largest' with 'smallest' in the fifth property for big O and it remainstrue.
  • f(n) = (g(n)) is true if limn->infinityg(n)/f(n)is a constant.
  • f(n) = (g(n)) is true if limn->infinityf(n)/g(n)is a non-zero constant.
  • nk = O((1+)n)) for any positive k and .That is, any polynomial is bound from above by any exponential. So anyalgorithm that runs in polynomial time is (eventually, for large enoughvalue of n) preferable to any algorithmthat runs in exponential time.
  • (log n)= O(nk)for any positive k and . That means a logarithm to any power grows more slowly than a polynomial (even things like square root, 100th root, etc.) So an algorithm that runs inlogarithmic time is (eventually) preferable to an algorithm that runsin polynomial (or indeed exponential, from above) time.