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

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

`#include <ompl/datastructures/NearestNeighborsGNAT.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, NearQueue &nbh, NodeQueue &nodeQueue, 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). The nodeQueue, which contains other Nodes that need to be checked for nearest neighbors, is updated. | |

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, NearQueue &nbh, NodeQueue &nodeQueue) const |

Return all elements that are within distance r in nbh. The nodeQueue, which contains other Nodes that need to be checked for nearest neighbors, is updated. | |

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. | |

## Friends | |

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

## Detailed Description

### template<typename _T>

class ompl::NearestNeighborsGNAT< _T >::Node

The class used internally to define the GNAT.

Definition at line 388 of file NearestNeighborsGNAT.h.

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

- ompl/datastructures/NearestNeighborsGNAT.h