NearestNeighbors.h
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34 
35 /* Author: Ioan Sucan */
36 
37 // This file is a slightly modified version of <ompl/datastructures/NearestNeighbors.h>
38 
39 #ifndef MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_
40 #define MOVEIT_ROS_PLANNING_CACHED_IK_KINEMATICS_NEAREST_NEIGHBORS_
41 
42 #include <vector>
43 #include <functional>
44 
46 {
48 template <typename _T>
50 {
51 public:
53  typedef std::function<double(const _T&, const _T&)> DistanceFunction;
54 
55  NearestNeighbors() = default;
56 
57  virtual ~NearestNeighbors() = default;
58 
60  virtual void setDistanceFunction(const DistanceFunction& distFun)
61  {
62  distFun_ = distFun;
63  }
64 
66  const DistanceFunction& getDistanceFunction() const
67  {
68  return distFun_;
69  }
70 
73  virtual bool reportsSortedResults() const = 0;
74 
76  virtual void clear() = 0;
77 
79  virtual void add(const _T& data) = 0;
80 
82  virtual void add(const std::vector<_T>& data)
83  {
84  for (auto elt = data.begin(); elt != data.end(); ++elt)
85  add(*elt);
86  }
87 
89  virtual bool remove(const _T& data) = 0;
90 
92  virtual _T nearest(const _T& data) const = 0;
93 
99  virtual void nearestK(const _T& data, std::size_t k, std::vector<_T>& nbh) const = 0;
100 
106  virtual void nearestR(const _T& data, double radius, std::vector<_T>& nbh) const = 0;
107 
109  virtual std::size_t size() const = 0;
110 
112  virtual void list(std::vector<_T>& data) const = 0;
113 
114 protected:
116  DistanceFunction distFun_;
117 };
118 }
119 
120 #endif
virtual void list(std::vector< _T > &data) const =0
Get all the 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 std::size_t size() const =0
Get the number of elements in the datastructure.
virtual _T nearest(const _T &data) const =0
Get the nearest neighbor of a point.
virtual void add(const _T &data)=0
Add an element to 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 setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
virtual void clear()=0
Clear the datastructure.
Abstract representation of a container that can perform nearest neighbors queries.
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.
virtual void add(const std::vector< _T > &data)
Add a vector of points.
DistanceFunction distFun_
The used distance function.
const DistanceFunction & getDistanceFunction() const
Get the distance function used.
std::function< double(const _T &, const _T &)> DistanceFunction
The definition of a distance function.


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 15 2018 03:46:21