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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 <functional>
42
43namespace ompl
44{
46 template <typename _T>
47 class NearestNeighbors
48 {
49 public:
51 using DistanceFunction = std::function<double(const _T &, const _T &)>;
52
53 NearestNeighbors() = default;
54
55 virtual ~NearestNeighbors() = default;
56
58 virtual void setDistanceFunction(const DistanceFunction &distFun)
59 {
60 distFun_ = distFun;
61 }
62
65 {
66 return distFun_;
67 }
68
71 virtual bool reportsSortedResults() const = 0;
72
74 virtual void clear() = 0;
75
77 virtual void add(const _T &data) = 0;
78
80 virtual void add(const std::vector<_T> &data)
81 {
82 for (const auto &elt : data)
83 add(elt);
84 }
85
87 virtual bool remove(const _T &data) = 0;
88
90 virtual _T nearest(const _T &data) const = 0;
91
97 virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
98
104 virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
105
107 virtual std::size_t size() const = 0;
108
110 virtual void list(std::vector<_T> &data) const = 0;
111
112 protected:
115 };
116}
117
118#endif
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.
DistanceFunction distFun_
The used distance function.
const DistanceFunction & getDistanceFunction() const
Get the distance function used.
virtual void clear()=0
Clear the datastructure.
virtual bool reportsSortedResults() const =0
Return true if the solutions reported by this data structure are sorted, when calling nearestK / near...
virtual void add(const std::vector< _T > &data)
Add a vector of points.
std::function< double(const _T &, const _T &)> DistanceFunction
The definition of a distance function.
virtual void setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
virtual void list(std::vector< _T > &data) const =0
Get all the elements in the datastructure.
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.
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 _T nearest(const _T &data) const =0
Get the nearest neighbor of a point.
virtual bool remove(const _T &data)=0
Remove an element from the datastructure.
Main namespace. Contains everything in this library.