00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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 00044 namespace ompl 00045 { 00046 00048 template<typename _T> 00049 class NearestNeighbors 00050 { 00051 public: 00052 00054 typedef boost::function2<double, const _T&, const _T&> DistanceFunction; 00055 00056 NearestNeighbors(void) 00057 { 00058 } 00059 00060 virtual ~NearestNeighbors(void) 00061 { 00062 } 00063 00065 void setDistanceFunction(const DistanceFunction &distFun) 00066 { 00067 distFun_ = distFun; 00068 } 00069 00071 const DistanceFunction& getDistanceFunction(void) const 00072 { 00073 return distFun_; 00074 } 00075 00077 virtual void clear(void) = 0; 00078 00080 virtual void add(_T &data) = 0; 00081 00083 virtual void add(std::vector<_T> &data) 00084 { 00085 for (typename std::vector<_T>::iterator elt = data.begin() ; elt != data.end() ; ++elt) 00086 add(*elt); 00087 } 00088 00090 virtual bool remove(_T &data) = 0; 00091 00093 virtual _T nearest(const _T &data) const = 0; 00094 00096 virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0; 00097 00099 virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0; 00100 00102 virtual std::size_t size(void) const = 0; 00103 00105 virtual void list(std::vector<_T> &data) const = 0; 00106 00107 protected: 00108 00110 DistanceFunction distFun_; 00111 00112 }; 00113 } 00114 00115 #endif