ompl::NearestNeighbors< _T > Class Template Reference

Abstract representation of a container that can perform nearest neighbors queries. More...

#include <ompl/datastructures/NearestNeighbors.h>

Inheritance diagram for ompl::NearestNeighbors< _T >:

List of all members.

Public Types

typedef boost::function
< double(const _T &, const _T &)> 
DistanceFunction
 The definition of a distance function.

Public Member Functions

virtual void setDistanceFunction (const DistanceFunction &distFun)
 Set the distance function to use.
const DistanceFunctiongetDistanceFunction () const
 Get the distance function used.
virtual bool reportsSortedResults () const =0
 Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.
virtual void clear ()=0
 Clear the datastructure.
virtual void add (const _T &data)=0
 Add an element to the datastructure.
virtual void add (const std::vector< _T > &data)
 Add a vector of points.
virtual bool remove (const _T &data)=0
 Remove an element from 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 void nearestR (const _T &data, double radius, std::vector< _T > &nbh) const =0
 Get the nearest neighbors of a point, within a specified radius.
virtual std::size_t size () const =0
 Get the number of elements in the datastructure.
virtual void list (std::vector< _T > &data) const =0
 Get all the elements in the datastructure.

Protected Attributes

DistanceFunction distFun_
 The used distance function.

Detailed Description

template<typename _T>
class ompl::NearestNeighbors< _T >

Abstract representation of a container that can perform nearest neighbors queries.

Definition at line 50 of file NearestNeighbors.h.


Member Function Documentation

template<typename _T>
virtual void ompl::NearestNeighbors< _T >::nearestK ( const _T &  data,
std::size_t  k,
std::vector< _T > &  nbh 
) const [pure virtual]

Get the k-nearest neighbors of a point.

All the nearest neighbor structures currently return the neighbors in sorted order, but this is not required.

Implemented in ompl::NearestNeighborsGNAT< _T >, ompl::NearestNeighborsFLANN< _T, _Dist >, and ompl::NearestNeighborsLinear< _T >.

template<typename _T>
virtual void ompl::NearestNeighbors< _T >::nearestR ( const _T &  data,
double  radius,
std::vector< _T > &  nbh 
) const [pure virtual]

Get the nearest neighbors of a point, within a specified radius.

All the nearest neighbor structures currently return the neighbors in sorted order, but this is not required.

Implemented in ompl::NearestNeighborsGNAT< _T >, ompl::NearestNeighborsFLANN< _T, _Dist >, and ompl::NearestNeighborsLinear< _T >.


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