ompl::NearestNeighborsFLANN< _T, _Dist > Class Template Reference
Wrapper class for nearest neighbor data structures in the FLANN library. More...
#include <ompl/datastructures/NearestNeighborsFLANN.h>
Inheritance diagram for ompl::NearestNeighborsFLANN< _T, _Dist >:

Public Member Functions | |
NearestNeighborsFLANN (const boost::shared_ptr< flann::IndexParams > ¶ms) | |
virtual void | clear () |
Clear the datastructure. | |
virtual bool | reportsSortedResults () const |
Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR. | |
virtual void | setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun) |
virtual void | add (const _T &data) |
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) |
Remove an element from the datastructure. | |
virtual _T | nearest (const _T &data) const |
Get the nearest neighbor of a point. | |
virtual void | nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const |
Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default) | |
virtual void | nearestR (const _T &data, double radius, std::vector< _T > &nbh) const |
Return the nearest neighbors within distance radius in sorted order if searchParams_.sorted==true (the default) | |
virtual std::size_t | size () const |
Get the number of elements in the datastructure. | |
virtual void | list (std::vector< _T > &data) const |
Get all the elements in the datastructure. | |
virtual void | setIndexParams (const boost::shared_ptr< flann::IndexParams > ¶ms) |
Set the FLANN index parameters. | |
virtual const boost::shared_ptr < flann::IndexParams > & | getIndexParams () const |
Get the FLANN parameters used to build the current index. | |
virtual void | setSearchParams (const flann::SearchParams &searchParams) |
Set the FLANN parameters to be used during nearest neighbor searches. | |
flann::SearchParams & | getSearchParams () |
Get the FLANN parameters used during nearest neighbor searches. | |
const flann::SearchParams & | getSearchParams () const |
Get the FLANN parameters used during nearest neighbor searches. | |
unsigned int | getContainerSize () const |
Protected Member Functions | |
void | createIndex (const flann::Matrix< _T > &mat) |
Internal function to construct nearest neighbor data structure with initial elements stored in mat. | |
void | rebuildIndex (unsigned int capacity=0) |
Rebuild the nearest neighbor data structure (necessary when changing the distance function or index parameters). | |
template<> | |
void | createIndex (const flann::Matrix< double > &mat) |
Protected Attributes | |
std::vector< _T > | data_ |
vector of data stored in FLANN's index. FLANN only indexes references, so we need store the original data. | |
flann::Index< _Dist > * | index_ |
The FLANN index (the actual index type depends on params_). | |
boost::shared_ptr < flann::IndexParams > | params_ |
The FLANN index parameters. This contains both the type of index and the parameters for that type. | |
flann::SearchParams | searchParams_ |
The parameters used to seach for nearest neighbors. | |
unsigned int | dimension_ |
If each element has an array-like structure that is exposed to FLANN, then the dimension_ needs to be set to the length of this array. |
Detailed Description
template<typename _T, typename _Dist = FLANNDistance<_T>>
class ompl::NearestNeighborsFLANN< _T, _Dist >
Wrapper class for nearest neighbor data structures in the FLANN library.
See: M. Muja and D.G. Lowe, "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration", in International Conference on Computer Vision Theory and Applications (VISAPP'09), 2009. http://people.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN
Definition at line 87 of file NearestNeighborsFLANN.h.
Member Function Documentation
template<typename _T , typename _Dist = FLANNDistance<_T>>
virtual void ompl::NearestNeighborsFLANN< _T, _Dist >::setIndexParams | ( | const boost::shared_ptr< flann::IndexParams > & | params | ) | [inline, virtual] |
Set the FLANN index parameters.
The parameters determine the type of nearest neighbor data structure to be constructed.
Definition at line 240 of file NearestNeighborsFLANN.h.
The documentation for this class was generated from the following file:
- ompl/datastructures/NearestNeighborsFLANN.h