lvr2::KDNode Class Reference

Inheritance diagram for lvr2::KDNode:

Public Member Functions
	KDNode (int axis, double split, KDTreePtr &lesser, KDTreePtr &greater)
Public Member Functions inherited from lvr2::KDTree
template<typename T >
bool	nearestNeighbor (const Vector3< T > &point, Neighbor &neighbor, double &distance, double maxDistance=std::numeric_limits< double >::infinity()) const
	Finds the nearest neighbor of 'point' that is within 'maxDistance' (defaults to infinity). The resulting neighbor is written into 'neighbor' (or nullptr if none is found). More...
virtual	~KDTree ()=default

Protected Member Functions
virtual void	nnInternal (const Point &point, Neighbor &neighbor, double &maxDist) const override
Protected Member Functions inherited from lvr2::KDTree
	KDTree ()=default
	KDTree (const KDTree &&)=delete

Private Attributes
int	axis
KDTreePtr	greater
KDTreePtr	lesser
double	split

Additional Inherited Members
Public Types inherited from lvr2::KDTree
using	KDTreePtr = std::shared_ptr< KDTree >
using	Neighbor = Point *
using	Point = Vector3< PointT >
using	PointT = float
Static Public Member Functions inherited from lvr2::KDTree
static std::shared_ptr< KDTree >	create (SLAMScanPtr scan, int maxLeafSize=20)
	Creates a new KDTree from the given Scan. More...
static size_t	nearestNeighbors (KDTreePtr tree, SLAMScanPtr scan, Neighbor *neighbors, double maxDistance, Vector3d &centroid_m, Vector3d &centroid_d)
	Finds the nearest neighbors of all points in a Scan using a pre-generated KDTree. More...
static size_t	nearestNeighbors (KDTreePtr tree, SLAMScanPtr scan, KDTree::Neighbor *neighbors, double maxDistance)
	Finds the nearest neighbors of all points in a Scan using a pre-generated KDTree. More...
Protected Attributes inherited from lvr2::KDTree
boost::shared_array< Point >	points

Detailed Description

Definition at line 40 of file KDTree.cpp.

Constructor & Destructor Documentation

KDNode()

lvr2::KDNode::KDNode ( int  axis, double  split, KDTreePtr &  lesser, KDTreePtr &  greater  )

inline

Definition at line 43 of file KDTree.cpp.

Member Function Documentation

nnInternal()

virtual void lvr2::KDNode::nnInternal ( const Point &  point, Neighbor &  neighbor, double &  maxDist  ) const

inlineoverrideprotectedvirtual

Implements lvr2::KDTree.

Definition at line 48 of file KDTree.cpp.

Member Data Documentation

axis

int lvr2::KDNode::axis

private

Definition at line 70 of file KDTree.cpp.

greater

KDTreePtr lvr2::KDNode::greater

private

Definition at line 73 of file KDTree.cpp.

lesser

KDTreePtr lvr2::KDNode::lesser

private

Definition at line 72 of file KDTree.cpp.

split

double lvr2::KDNode::split

private

Definition at line 71 of file KDTree.cpp.

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The documentation for this class was generated from the following file:

• KDTree.cpp