NearestNeighbors.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
#define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
 
#include <vector>
#include <functional>
 
namespace ompl
{
    template <typename _T>
    class NearestNeighbors
    {
    public:
        using DistanceFunction = std::function<double(const _T &, const _T &)>;
 
        NearestNeighbors() = default;
 
        virtual ~NearestNeighbors() = default;
 
        virtual void setDistanceFunction(const DistanceFunction &distFun)
        {
            distFun_ = distFun;
        }
 
        const DistanceFunction &getDistanceFunction() const
        {
            return distFun_;
        }
 
        virtual bool reportsSortedResults() const = 0;
 
        virtual void clear() = 0;
 
        virtual void add(const _T &data) = 0;
 
        virtual void add(const std::vector<_T> &data)
        {
            for (const auto &elt : data)
                add(elt);
        }
 
        virtual bool remove(const _T &data) = 0;
 
        virtual _T nearest(const _T &data) const = 0;
 
        virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
 
        virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
 
        virtual std::size_t size() const = 0;
 
        virtual void list(std::vector<_T> &data) const = 0;
 
    protected:
        DistanceFunction distFun_;
    };
}
 
#endif