NearestNeighbors.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
38 #define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
39 
40 #include <vector>
41 #include <functional>
42 
43 namespace ompl
44 {
46  template <typename _T>
48  {
49  public:
51  typedef std::function<double(const _T &, const _T &)> DistanceFunction;
52 
53  NearestNeighbors() = default;
54 
55  virtual ~NearestNeighbors() = default;
56 
58  virtual void setDistanceFunction(const DistanceFunction &distFun)
59  {
60  distFun_ = distFun;
61  }
62 
65  {
66  return distFun_;
67  }
68 
71  virtual bool reportsSortedResults() const = 0;
72 
74  virtual void clear() = 0;
75 
77  virtual void add(const _T &data) = 0;
78 
80  virtual void add(const std::vector<_T> &data)
81  {
82  for (const auto &elt : data)
83  add(elt);
84  }
85 
87  virtual bool remove(const _T &data) = 0;
88 
90  virtual _T nearest(const _T &data) const = 0;
91 
97  virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
98 
104  virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
105 
107  virtual std::size_t size() const = 0;
108 
110  virtual void list(std::vector<_T> &data) const = 0;
111 
112  protected:
115  };
116 }
117 
118 #endif
virtual void nearestR(const _T &data, double radius, std::vector< _T > &nbh) const =0
Get the nearest neighbors of a point, within a specified radius.
virtual std::size_t size() const =0
Get the number of elements in the datastructure.
virtual void add(const std::vector< _T > &data)
Add a vector of points.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual void clear()=0
Clear the datastructure.
virtual void nearestK(const _T &data, std::size_t k, std::vector< _T > &nbh) const =0
Get the k-nearest neighbors of a point.
virtual void setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
DistanceFunction distFun_
The used distance function.
virtual _T nearest(const _T &data) const =0
Get the nearest neighbor of a point.
Abstract representation of a container that can perform nearest neighbors queries.
virtual void add(const _T &data)=0
Add an element to the datastructure.
virtual void list(std::vector< _T > &data) const =0
Get all the elements in the datastructure.
const DistanceFunction & getDistanceFunction() const
Get the distance function used.
std::function< double(const _T &, const _T &)> DistanceFunction
The definition of a distance function.
virtual bool reportsSortedResults() const =0
Return true if the solutions reported by this data structure are sorted, when calling nearestK / near...