NearestNeighbors.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
38 #define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
39 
40 #include <vector>
41 #include <boost/bind.hpp>
42 #include <boost/function.hpp>
43 #include <ompl/base/StateSpace.h>
44 
45 namespace ompl
46 {
47 
49  template<typename _T>
51  {
52  public:
53 
55  typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
56 
58  {
59  }
60 
61  virtual ~NearestNeighbors()
62  {
63  }
64 
66  virtual void setDistanceFunction(const DistanceFunction &distFun)
67  {
68  distFun_ = distFun;
69  }
70 
72  const DistanceFunction& getDistanceFunction() const
73  {
74  return distFun_;
75  }
76 
79  virtual bool reportsSortedResults() const = 0;
80 
82  virtual void clear() = 0;
83 
85  virtual void add(const _T &data) = 0;
86 
88  virtual void add(const std::vector<_T> &data)
89  {
90  for (typename std::vector<_T>::const_iterator elt = data.begin() ; elt != data.end() ; ++elt)
91  add(*elt);
92  }
93 
95  virtual bool remove(const _T &data) = 0;
96 
98  virtual _T nearest(const _T &data) const = 0;
99 
105  virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
106 
112  virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
113 
115  virtual std::size_t size() const = 0;
116 
118  virtual void list(std::vector<_T> &data) const = 0;
119 
120  protected:
121 
123  DistanceFunction distFun_;
124 
125  };
126 }
127 
128 #endif
const DistanceFunction & getDistanceFunction() const
Get the distance function used.
virtual void list(std::vector< _T > &data) const =0
Get all the elements in the datastructure.
virtual _T nearest(const _T &data) const =0
Get the nearest neighbor of a point.
virtual void nearestK(const _T &data, std::size_t k, std::vector< _T > &nbh) const =0
Get the k-nearest neighbors of a point.
virtual bool reportsSortedResults() const =0
Return true if the solutions reported by this data structure are sorted, when calling nearestK / near...
boost::function< double(const _T &, const _T &)> DistanceFunction
The definition of a distance function.
virtual void add(const std::vector< _T > &data)
Add a vector of points.
virtual void nearestR(const _T &data, double radius, std::vector< _T > &nbh) const =0
Get the nearest neighbors of a point, within a specified radius.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual void clear()=0
Clear the datastructure.
virtual void setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
DistanceFunction distFun_
The used distance function.
Abstract representation of a container that can perform nearest neighbors queries.
virtual void add(const _T &data)=0
Add an element to the datastructure.
virtual std::size_t size() const =0
Get the number of elements in the datastructure.