ompl::NearestNeighborsSqrtApprox< _T > Class Template Reference
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped). More...
#include <ompl/datastructures/NearestNeighborsSqrtApprox.h>
Inheritance diagram for ompl::NearestNeighborsSqrtApprox< _T >:
Public Member Functions | |
| void | clear () override |
| Clear the datastructure. | |
| 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. | |
 Public Member Functions inherited from ompl::NearestNeighborsLinear< _T > | |
| bool | reportsSortedResults () const override |
| Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR. | |
| void | nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const override |
| Return the k nearest neighbors in sorted order. | |
| void | nearestR (const _T &data, double radius, std::vector< _T > &nbh) const override |
Return the nearest neighbors within distance radius in sorted order. | |
| 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. | |
| 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 | updateCheckCount () |
| The maximum number of checks to perform when searching for a nearest neighbor. | |
Protected Attributes | |
| std::size_t | checks_ {0} |
| The number of checks to be performed when looking for a nearest neighbor. | |
| std::size_t | offset_ {0} |
| The offset to start checking at (between 0 and checks_) | |
| Protected Attributes inherited from ompl::NearestNeighborsLinear< _T > | |
| std::vector< _T > | data_ |
| The data elements stored in this structure. | |
| 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>
class ompl::NearestNeighborsSqrtApprox< _T >
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped).
- Search for nearest neighbor is O(sqrt(n)).
- Search for k-nearest neighbors is O(n log(k)).
- Search for neighbors within a range is O(n log(n)).
- Adding an element to the datastructure is O(1).
- Removing an element from the datastructure O(n).
Definition at line 89 of file NearestNeighborsSqrtApprox.h.
The documentation for this class was generated from the following file:
- ompl/datastructures/NearestNeighborsSqrtApprox.h