ompl::NearestNeighborsGNATNoThreadSafety< _T >::Node Class Reference

The class used internally to define the GNAT. More...

#include <ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h>

Public Member Functions

 Node (int degree, int capacity, _T pivot)
 Construct a node of given degree with at most capacity data elements and with given pivot.
 
void updateRadius (double dist)
 Update minRadius_ and maxRadius_, given that an element was added with distance dist to the pivot.
 
void updateRange (unsigned int i, double dist)
 Update minRange_[i] and maxRange_[i], given that an element was added to the i-th child of the parent that has distance dist to this Node's pivot.
 
void add (GNAT &gnat, const _T &data)
 Add an element to the tree rooted at this node.
 
bool needToSplit (const GNAT &gnat) const
 Return true iff the node needs to be split into child nodes.
 
void split (GNAT &gnat)
 The split operation finds pivot elements for the child nodes and moves each data element of this node to the appropriate child node.
 
bool insertNeighborK (NearQueue &nbh, std::size_t k, const _T &data, const _T &key, double dist) const
 Insert data in nbh if it is a near neighbor. Return true iff data was added to nbh.
 
void nearestK (const GNAT &gnat, const _T &data, std::size_t k, bool &isPivot) const
 Compute the k nearest neighbors of data in the tree. For k=1, isPivot is true if the nearest neighbor is a pivot (which is important during removal; removing pivots is a special case).
 
void insertNeighborR (NearQueue &nbh, double r, const _T &data, double dist) const
 Insert data in nbh if it is a near neighbor.
 
void nearestR (const GNAT &gnat, const _T &data, double r) const
 Return all elements that are within distance r in nbh.
 
void list (const GNAT &gnat, std::vector< _T > &data) const
 

Public Attributes

unsigned int degree_
 Number of child nodes.
 
const _T pivot_
 Data element stored in this Node.
 
double minRadius_
 Minimum distance between the pivot element and the elements stored in data_.
 
double maxRadius_
 Maximum distance between the pivot element and the elements stored in data_.
 
std::vector< double > minRange_
 The i-th element in minRange_ is the minimum distance between the pivot and any data_ element in the i-th child node of this node's parent.
 
std::vector< double > maxRange_
 The i-th element in maxRange_ is the maximum distance between the pivot and any data_ element in the i-th child node of this node's parent.
 
std::vector< _T > data_
 The data elements stored in this node (in addition to the pivot element). An internal node has no elements stored in data_.
 
std::vector< Node * > children_
 The child nodes of this node. By definition, only internal nodes have child nodes.
 
double distToPivot_
 Scratch space to store distance to pivot during nearest neighbor queries.
 

Friends

std::ostream & operator<< (std::ostream &out, const Node &node)
 

Detailed Description

template<typename _T>
class ompl::NearestNeighborsGNATNoThreadSafety< _T >::Node

The class used internally to define the GNAT.

Definition at line 388 of file NearestNeighborsGNATNoThreadSafety.h.


The documentation for this class was generated from the following file: