NearestNeighbors.h

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/* Author: Ioan Sucan */

// This file is a slightly modified version of <ompl/datastructures/NearestNeighbors.h>

#ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_
#define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_

#include <vector>
#include <functional>

namespace cached_ik_kinematics_plugin
{
template <typename _T>
class NearestNeighbors
{
public:
  typedef std::function<double(const _T&, const _T&)> DistanceFunction;

  NearestNeighbors() = default;

  virtual ~NearestNeighbors() = default;

  virtual void setDistanceFunction(const DistanceFunction& distFun)
  {
    distFun_ = distFun;
  }

  const DistanceFunction& getDistanceFunction() const
  {
    return distFun_;
  }

  virtual bool reportsSortedResults() const = 0;

  virtual void clear() = 0;

  virtual void add(const _T& data) = 0;

  virtual void add(const std::vector<_T>& data)
  {
    for (auto elt = data.begin(); elt != data.end(); ++elt)
      add(*elt);
  }

  virtual bool remove(const _T& data) = 0;

  virtual _T nearest(const _T& data) const = 0;

  virtual void nearestK(const _T& data, std::size_t k, std::vector<_T>& nbh) const = 0;

  virtual void nearestR(const _T& data, double radius, std::vector<_T>& nbh) const = 0;

  virtual std::size_t size() const = 0;

  virtual void list(std::vector<_T>& data) const = 0;

protected:
  DistanceFunction distFun_;
};
}

#endif