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 451 of file NearestNeighborsGNAT.h.

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

ompl/datastructures/NearestNeighborsGNAT.h

Public Member Functions

Public Attributes

Friends

Detailed Description

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

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