Template Class NearestNeighbors

• Defined in File NearestNeighbors.h

Inheritance Relationships

Derived Types

• public ompl::NearestNeighborsGNAT< NNElement > (Template Class NearestNeighborsGNAT)

• public ompl::NearestNeighborsGNATNoThreadSafety< std::shared_ptr< ompl::geometric::aitstar::Vertex > > (Template Class NearestNeighborsGNATNoThreadSafety)

• public ompl::NearestNeighborsGNATNoThreadSafety< std::shared_ptr< ompl::geometric::eitstar::State > > (Template Class NearestNeighborsGNATNoThreadSafety)

• public ompl::NearestNeighborsGNAT< _T > (Template Class NearestNeighborsGNAT)

• public ompl::NearestNeighborsGNATNoThreadSafety< _T > (Template Class NearestNeighborsGNATNoThreadSafety)

• public ompl::NearestNeighborsLinear< _T > (Template Class NearestNeighborsLinear)

Class Documentation

template<typename _T>
class NearestNeighbors

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

Subclassed by ompl::NearestNeighborsGNAT< NNElement >, ompl::NearestNeighborsGNATNoThreadSafety< std::shared_ptr< ompl::geometric::aitstar::Vertex > >, ompl::NearestNeighborsGNATNoThreadSafety< std::shared_ptr< ompl::geometric::eitstar::State > >, ompl::NearestNeighborsGNAT< _T >, ompl::NearestNeighborsGNATNoThreadSafety< _T >, ompl::NearestNeighborsLinear< _T >

Public Types

using DistanceFunction = std::function<double(const _T&, const _T&)>

The definition of a distance function.

Public Functions

NearestNeighbors() = default

virtual ~NearestNeighbors() = default

inline virtual void setDistanceFunction(const DistanceFunction &distFun)

Set the distance function to use.

inline const DistanceFunction &getDistanceFunction() 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.

inline 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.

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

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.

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

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.