ompl/datastructures/NearestNeighbors.h
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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 #include <ompl/base/StateSpace.h>
00044 
00045 namespace ompl
00046 {
00047 
00049     template<typename _T>
00050     class NearestNeighbors
00051     {
00052     public:
00053 
00055         typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
00056 
00057         NearestNeighbors()
00058         {
00059         }
00060 
00061         virtual ~NearestNeighbors()
00062         {
00063         }
00064 
00066         virtual void setDistanceFunction(const DistanceFunction &distFun)
00067         {
00068             distFun_ = distFun;
00069         }
00070 
00072         const DistanceFunction& getDistanceFunction() const
00073         {
00074             return distFun_;
00075         }
00076 
00079         virtual bool reportsSortedResults() const = 0;
00080 
00082         virtual void clear() = 0;
00083 
00085         virtual void add(const _T &data) = 0;
00086 
00088         virtual void add(const std::vector<_T> &data)
00089         {
00090             for (typename std::vector<_T>::const_iterator elt = data.begin() ; elt != data.end() ; ++elt)
00091                 add(*elt);
00092         }
00093 
00095         virtual bool remove(const _T &data) = 0;
00096 
00098         virtual _T nearest(const _T &data) const = 0;
00099 
00105         virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
00106 
00112         virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
00113 
00115         virtual std::size_t size() const = 0;
00116 
00118         virtual void list(std::vector<_T> &data) const = 0;
00119 
00120     protected:
00121 
00123         DistanceFunction distFun_;
00124 
00125     };
00126 }
00127 
00128 #endif
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