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 #include <ompl/base/StateSpace.h>
43 
44 namespace ompl
45 {
47  template <typename _T>
49  {
50  public:
52  typedef std::function<double(const _T &, const _T &)> DistanceFunction;
53 
54  NearestNeighbors() = default;
55 
56  virtual ~NearestNeighbors() = default;
57 
59  virtual void setDistanceFunction(const DistanceFunction &distFun)
60  {
61  distFun_ = distFun;
62  }
63 
65  const DistanceFunction &getDistanceFunction() const
66  {
67  return distFun_;
68  }
69 
72  virtual bool reportsSortedResults() const = 0;
73 
75  virtual void clear() = 0;
76 
78  virtual void add(const _T &data) = 0;
79 
81  virtual void add(const std::vector<_T> &data)
82  {
83  for (auto elt = data.begin(); elt != data.end(); ++elt)
84  add(*elt);
85  }
86 
88  virtual bool remove(const _T &data) = 0;
89 
91  virtual _T nearest(const _T &data) const = 0;
92 
98  virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
99 
105  virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
106 
108  virtual std::size_t size() const = 0;
109 
111  virtual void list(std::vector<_T> &data) const = 0;
112 
113  protected:
115  DistanceFunction distFun_;
116  };
117 }
118 
119 #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...