Wrapper class for nearest neighbor data structures in the FLANN library. More...

#include <ompl/datastructures/NearestNeighborsFLANN.h>

Inheritance diagram for ompl::NearestNeighborsFLANN< _T, _Dist >:

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Public Member Functions
	NearestNeighborsFLANN (std::shared_ptr< flann::IndexParams > params)
void	clear () override
	Clear the datastructure.
bool	reportsSortedResults () const override
	Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.
void	setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun) override
void	add (const _T &data) override
	Add an element to the datastructure.
void	add (const std::vector< _T > &data) override
	Add a vector of points.
bool	remove (const _T &data) override
	Remove an element from the datastructure.
_T	nearest (const _T &data) const override
	Get the nearest neighbor of a point.
void	nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const override
	Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default).
void	nearestR (const _T &data, double radius, std::vector< _T > &nbh) const override
	Return the nearest neighbors within distance `radius` in sorted order if searchParams_.sorted==true (the default).
std::size_t	size () const override
	Get the number of elements in the datastructure.
void	list (std::vector< _T > &data) const override
	Get all the elements in the datastructure.
virtual void	setIndexParams (const std::shared_ptr< flann::IndexParams > &params)
	Set the FLANN index parameters.
virtual const std::shared_ptr< flann::IndexParams > &	getIndexParams () const
	Get the FLANN parameters used to build the current index.
virtual void	setSearchParams (const flann::SearchParams &searchParams)
	Set the FLANN parameters to be used during nearest neighbor searches.
flann::SearchParams &	getSearchParams ()
	Get the FLANN parameters used during nearest neighbor searches.
const flann::SearchParams &	getSearchParams () const
	Get the FLANN parameters used during nearest neighbor searches.
unsigned int	getContainerSize () const
Public Member Functions inherited from ompl::NearestNeighbors< _T >
virtual void	setDistanceFunction (const DistanceFunction &distFun)
	Set the distance function to use.
const DistanceFunction &	getDistanceFunction () const
	Get the distance function used.

Protected Member Functions
void	createIndex (const flann::Matrix< _T > &mat)
	Internal function to construct nearest neighbor data structure with initial elements stored in mat.
void	rebuildIndex (unsigned int capacity=0)
	Rebuild the nearest neighbor data structure (necessary when changing the distance function or index parameters).
void	createIndex (const flann::Matrix< double > &mat)

Protected Attributes
std::vector< _T >	data_
	vector of data stored in FLANN's index. FLANN only indexes references, so we need store the original data.
flann::Index< _Dist > *	index_
	The FLANN index (the actual index type depends on params_).
std::shared_ptr< flann::IndexParams >	params_
	The FLANN index parameters. This contains both the type of index and the parameters for that type.
flann::SearchParams	searchParams_
	The parameters used to seach for nearest neighbors.
unsigned int	dimension_
	If each element has an array-like structure that is exposed to FLANN, then the dimension_ needs to be set to the length of this array.
Protected Attributes inherited from ompl::NearestNeighbors< _T >
DistanceFunction	distFun_
	The used distance function.

Additional Inherited Members
Public Types inherited from ompl::NearestNeighbors< _T >
using	DistanceFunction = std::function<double(const _T &, const _T &)>
	The definition of a distance function.

Detailed Description

template<typename _T, typename _Dist = FLANNDistance<_T>>
class ompl::NearestNeighborsFLANN< _T, _Dist >

Wrapper class for nearest neighbor data structures in the FLANN library.

See: M. Muja and D.G. Lowe, "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration", in International Conference on Computer Vision Theory and Applications (VISAPP'09), 2009. https://github.com/mariusmuja/flann

Definition at line 87 of file NearestNeighborsFLANN.h.

Constructor & Destructor Documentation

◆ NearestNeighborsFLANN()

template<typename _T, typename _Dist = FLANNDistance<_T>>

ompl::NearestNeighborsFLANN< _T, _Dist >::NearestNeighborsFLANN ( std::shared_ptr< flann::IndexParams > params )

inline

Definition at line 90 of file NearestNeighborsFLANN.h.

◆ ~NearestNeighborsFLANN()

template<typename _T, typename _Dist = FLANNDistance<_T>>

ompl::NearestNeighborsFLANN< _T, _Dist >::~NearestNeighborsFLANN ( )

inlineoverride

Definition at line 95 of file NearestNeighborsFLANN.h.

Member Function Documentation

◆ add() [1/2]

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::add ( const _T & data )

inlineoverridevirtual

Add an element to the datastructure.

Implements ompl::NearestNeighbors< _T >.

Definition at line 122 of file NearestNeighborsFLANN.h.

◆ add() [2/2]

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::add ( const std::vector< _T > & data )

inlineoverridevirtual

Add a vector of points.

Reimplemented from ompl::NearestNeighbors< _T >.

Definition at line 137 of file NearestNeighborsFLANN.h.

◆ clear()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::clear ( )

inlineoverridevirtual

Clear the datastructure.

Implements ompl::NearestNeighbors< _T >.

Definition at line 101 of file NearestNeighborsFLANN.h.

◆ createIndex() [1/2]

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::createIndex ( const flann::Matrix< _T > & mat )

inlineprotected

Internal function to construct nearest neighbor data structure with initial elements stored in mat.

Definition at line 283 of file NearestNeighborsFLANN.h.

◆ createIndex() [2/2]

void ompl::NearestNeighborsFLANN< double, flann::L2< double > >::createIndex ( const flann::Matrix< double > & mat )

inlineprotected

Definition at line 325 of file NearestNeighborsFLANN.h.

◆ getContainerSize()

template<typename _T, typename _Dist = FLANNDistance<_T>>

unsigned int ompl::NearestNeighborsFLANN< _T, _Dist >::getContainerSize ( ) const

inline

Definition at line 275 of file NearestNeighborsFLANN.h.

◆ getIndexParams()

template<typename _T, typename _Dist = FLANNDistance<_T>>

virtual const std::shared_ptr< flann::IndexParams > & ompl::NearestNeighborsFLANN< _T, _Dist >::getIndexParams ( ) const

inlinevirtual

Get the FLANN parameters used to build the current index.

Definition at line 249 of file NearestNeighborsFLANN.h.

◆ getSearchParams() [1/2]

template<typename _T, typename _Dist = FLANNDistance<_T>>

flann::SearchParams & ompl::NearestNeighborsFLANN< _T, _Dist >::getSearchParams ( )

inline

Get the FLANN parameters used during nearest neighbor searches.

Definition at line 263 of file NearestNeighborsFLANN.h.

◆ getSearchParams() [2/2]

template<typename _T, typename _Dist = FLANNDistance<_T>>

const flann::SearchParams & ompl::NearestNeighborsFLANN< _T, _Dist >::getSearchParams ( ) const

inline

Get the FLANN parameters used during nearest neighbor searches.

Definition at line 270 of file NearestNeighborsFLANN.h.

◆ list()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::list ( std::vector< _T > & data ) const

inlineoverridevirtual

Get all the elements in the datastructure.

Implements ompl::NearestNeighbors< _T >.

Definition at line 223 of file NearestNeighborsFLANN.h.

◆ nearest()

template<typename _T, typename _Dist = FLANNDistance<_T>>

_T ompl::NearestNeighborsFLANN< _T, _Dist >::nearest ( const _T & data ) const

inlineoverridevirtual

Get the nearest neighbor of a point.

Implements ompl::NearestNeighbors< _T >.

Definition at line 178 of file NearestNeighborsFLANN.h.

◆ nearestK()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::nearestK	(	const _T &	data,
		std::size_t	k,
		std::vector< _T > &	nbh ) const

inlineoverridevirtual

Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default).

Implements ompl::NearestNeighbors< _T >.

Definition at line 193 of file NearestNeighborsFLANN.h.

◆ nearestR()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::nearestR	(	const _T &	data,
		double	radius,
		std::vector< _T > &	nbh ) const

inlineoverridevirtual

Return the nearest neighbors within distance radius in sorted order if searchParams_.sorted==true (the default).

Implements ompl::NearestNeighbors< _T >.

Definition at line 206 of file NearestNeighborsFLANN.h.

◆ rebuildIndex()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::rebuildIndex ( unsigned int capacity = 0 )

inlineprotected

Rebuild the nearest neighbor data structure (necessary when changing the distance function or index parameters).

Definition at line 291 of file NearestNeighborsFLANN.h.

◆ remove()

template<typename _T, typename _Dist = FLANNDistance<_T>>

bool ompl::NearestNeighborsFLANN< _T, _Dist >::remove ( const _T & data )

inlineoverridevirtual

Remove an element from the datastructure.

Implements ompl::NearestNeighbors< _T >.

Definition at line 161 of file NearestNeighborsFLANN.h.

◆ reportsSortedResults()

template<typename _T, typename _Dist = FLANNDistance<_T>>

bool ompl::NearestNeighborsFLANN< _T, _Dist >::reportsSortedResults ( ) const

inlineoverridevirtual

Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.

Implements ompl::NearestNeighbors< _T >.

Definition at line 111 of file NearestNeighborsFLANN.h.

◆ setDistanceFunction()

template<typename _T, typename _Dist = FLANNDistance<_T>>

void ompl::NearestNeighborsFLANN< _T, _Dist >::setDistanceFunction ( const typename NearestNeighbors< _T >::DistanceFunction & distFun )

inlineoverride

Definition at line 116 of file NearestNeighborsFLANN.h.

◆ setIndexParams()

template<typename _T, typename _Dist = FLANNDistance<_T>>

virtual void ompl::NearestNeighborsFLANN< _T, _Dist >::setIndexParams ( const std::shared_ptr< flann::IndexParams > & params )

inlinevirtual

Set the FLANN index parameters.

The parameters determine the type of nearest neighbor data structure to be constructed.

Definition at line 242 of file NearestNeighborsFLANN.h.

◆ setSearchParams()

template<typename _T, typename _Dist = FLANNDistance<_T>>

virtual void ompl::NearestNeighborsFLANN< _T, _Dist >::setSearchParams ( const flann::SearchParams & searchParams )

inlinevirtual

Set the FLANN parameters to be used during nearest neighbor searches.

Definition at line 256 of file NearestNeighborsFLANN.h.

◆ size()

template<typename _T, typename _Dist = FLANNDistance<_T>>

std::size_t ompl::NearestNeighborsFLANN< _T, _Dist >::size ( ) const

inlineoverridevirtual

Get the number of elements in the datastructure.

Implements ompl::NearestNeighbors< _T >.

Definition at line 218 of file NearestNeighborsFLANN.h.

Member Data Documentation

◆ data_

template<typename _T, typename _Dist = FLANNDistance<_T>>

std::vector<_T> ompl::NearestNeighborsFLANN< _T, _Dist >::data_

protected

vector of data stored in FLANN's index. FLANN only indexes references, so we need store the original data.

Definition at line 306 of file NearestNeighborsFLANN.h.

◆ dimension_

template<typename _T, typename _Dist = FLANNDistance<_T>>

unsigned int ompl::NearestNeighborsFLANN< _T, _Dist >::dimension_

protected

If each element has an array-like structure that is exposed to FLANN, then the dimension_ needs to be set to the length of this array.

Definition at line 321 of file NearestNeighborsFLANN.h.

◆ index_

template<typename _T, typename _Dist = FLANNDistance<_T>>

flann::Index<_Dist>* ompl::NearestNeighborsFLANN< _T, _Dist >::index_

protected

The FLANN index (the actual index type depends on params_).

Definition at line 309 of file NearestNeighborsFLANN.h.

◆ params_

template<typename _T, typename _Dist = FLANNDistance<_T>>

std::shared_ptr<flann::IndexParams> ompl::NearestNeighborsFLANN< _T, _Dist >::params_

protected

The FLANN index parameters. This contains both the type of index and the parameters for that type.

Definition at line 313 of file NearestNeighborsFLANN.h.

◆ searchParams_

template<typename _T, typename _Dist = FLANNDistance<_T>>

flann::SearchParams ompl::NearestNeighborsFLANN< _T, _Dist >::searchParams_

mutableprotected

The parameters used to seach for nearest neighbors.

Definition at line 316 of file NearestNeighborsFLANN.h.

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

ompl/datastructures/NearestNeighborsFLANN.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NearestNeighborsFLANN()

◆ ~NearestNeighborsFLANN()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ clear()

◆ createIndex() [1/2]

◆ createIndex() [2/2]

◆ getContainerSize()

◆ getIndexParams()

◆ getSearchParams() [1/2]

◆ getSearchParams() [2/2]

◆ list()

◆ nearest()

◆ nearestK()

◆ nearestR()

◆ rebuildIndex()

◆ remove()

◆ reportsSortedResults()

◆ setDistanceFunction()

◆ setIndexParams()

◆ setSearchParams()

◆ size()

Member Data Documentation

◆ data_

◆ dimension_

◆ index_

◆ params_

◆ searchParams_