All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
NearestNeighbors.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
00038 #define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
00039 
00040 #include <vector>
00041 #include <boost/bind.hpp>
00042 #include <boost/function.hpp>
00043 
00044 namespace ompl
00045 {
00046 
00048     template<typename _T>
00049     class NearestNeighbors
00050     {
00051     public:
00052 
00054         typedef boost::function2<double, const _T&, const _T&> DistanceFunction;
00055 
00056         NearestNeighbors(void)
00057         {
00058         }
00059 
00060         virtual ~NearestNeighbors(void)
00061         {
00062         }
00063 
00065         virtual void setDistanceFunction(const DistanceFunction &distFun)
00066         {
00067             distFun_ = distFun;
00068         }
00069 
00071         const DistanceFunction& getDistanceFunction(void) const
00072         {
00073             return distFun_;
00074         }
00075 
00077         virtual void clear(void) = 0;
00078 
00080         virtual void add(const _T &data) = 0;
00081 
00083         virtual void add(const std::vector<_T> &data)
00084         {
00085             for (typename std::vector<_T>::const_iterator elt = data.begin() ; elt != data.end() ; ++elt)
00086                 add(*elt);
00087         }
00088 
00090         virtual bool remove(const _T &data) = 0;
00091 
00093         virtual _T nearest(const _T &data) const = 0;
00094 
00096         virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
00097 
00099         virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
00100 
00102         virtual std::size_t size(void) const = 0;
00103 
00105         virtual void list(std::vector<_T> &data) const = 0;
00106 
00107     protected:
00108 
00110         DistanceFunction distFun_;
00111 
00112     };
00113 }
00114 
00115 #endif