<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/datastructures/NearestNeighborsGNAT.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
var _gaq = _gaq || [];
_gaq.push(['_setAccount', 'UA-9156598-2']);
_gaq.push(['_trackPageview']);
(function() {
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
})();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
<div class="tabs" id="ompltitle">
<ul class="tablist">
<li>The Open Motion Planning Library</li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search API" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<ul id="nav" class="dropdown">
<li class="first"><a href="index.html">Home</a></li>
<li><a href="download.html">Download</a></li>
<li><a href="documentation.html">Documentation</a></li>
<li><span class="dir">Code API</span>
<ul>
<li><a href="api_overview.html">API Overview</a></li>
<li><a href="namespaces.html">Namespaces</a></li>
<li><a href="annotated.html">Classes</a></li>
<li><a href="files.html">Files</a></li>
<li><a href="dirs.html">Directories</a></li>
</ul>
</li>
<li><span class="dir">Community</span>
<ul>
<li><a href="developers.html">Developers</a></li>
<li><a href="thirdparty.html">Contributions</a></li>
<li><a href="education.html">Education</a></li>
<li><a href="gallery.html">Gallery</a></li>
</ul>
</li>
<li><span class="dir">About</span>
<ul>
<li><a href="license.html">License</a></li>
<li><a href="citations.html">Citations</a></li>
<li><a href="acknowledgements.html">Acknowledgments</a></li>
<li><a href="contact.html">Contact Us</a></li>
</ul>
</li>
</ul>
</div>
<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>
<div class="container">
<div class="span-22 push-2 first last">
<div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li>
<li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li>
<li class="navelem"><a class="el" href="dir_bcc018587a1660af6e54d7cc713e88f2.html">datastructures</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="headertitle">
<div class="title">NearestNeighborsGNAT.h</div> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2011, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Mark Moll */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_GNAT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_GNAT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/datastructures/GreedyKCenters.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <boost/unordered_set.hpp></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <queue></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <algorithm></span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ompl
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049
<a name="l00058"></a>00058 <span class="keyword">template</span><<span class="keyword">typename</span> _T>
<a name="l00059"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html">00059</a> <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors</a><_T>
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="keyword">protected</span>:
<a name="l00062"></a>00062 <span class="comment">// internally, we use a priority queue for nearest neighbors, paired</span>
<a name="l00063"></a>00063 <span class="comment">// with their distance to the query point</span>
<a name="l00064"></a>00064 <span class="keyword">typedef</span> std::pair<const _T*,double> DataDist;
<a name="l00065"></a><a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1DataDistCompare.html">00065</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1DataDistCompare.html">DataDistCompare</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> DataDist& d0, <span class="keyword">const</span> DataDist& d1)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keywordflow">return</span> d0.second < d1.second;
<a name="l00070"></a>00070 }
<a name="l00071"></a>00071 };
<a name="l00072"></a>00072 <span class="keyword">typedef</span> std::priority_queue<DataDist, std::vector<DataDist>, <a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1DataDistCompare.html">DataDistCompare</a>> NearQueue;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment">// another internal data structure is a priority queue of nodes to</span>
<a name="l00075"></a>00075 <span class="comment">// check next for possible nearest neighbors</span>
<a name="l00076"></a>00076 <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>;
<a name="l00077"></a>00077 <span class="keyword">typedef</span> std::pair<Node*,double> NodeDist;
<a name="l00078"></a><a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1NodeDistCompare.html">00078</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1NodeDistCompare.html">NodeDistCompare</a>
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> NodeDist& n0, <span class="keyword">const</span> NodeDist& n1)<span class="keyword"> const</span>
<a name="l00081"></a>00081 <span class="keyword"> </span>{
<a name="l00082"></a>00082 <span class="keywordflow">return</span> (n0.second - n0.first->maxRadius_) > (n1.second - n1.first->maxRadius_);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085 <span class="keyword">typedef</span> std::priority_queue<NodeDist, std::vector<NodeDist>, <a class="code" href="structompl_1_1NearestNeighborsGNAT_1_1NodeDistCompare.html">NodeDistCompare</a>> NodeQueue;
<a name="l00086"></a>00086
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">public</span>:
<a name="l00089"></a>00089 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> degree = 4, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minDegree = 2,
<a name="l00090"></a>00090 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxDegree = 6, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxNumPtsPerLeaf = 50,
<a name="l00091"></a>00091 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> removedCacheSize = 50)
<a name="l00092"></a>00092 : <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors</a><_T>(), <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>(NULL), degree_(degree),
<a name="l00093"></a>00093 minDegree_(std::min(degree,minDegree)), maxDegree_(std::max(maxDegree,degree)),
<a name="l00094"></a>00094 maxNumPtsPerLeaf_(maxNumPtsPerLeaf), size_(0), removedCacheSize_(removedCacheSize)
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT</a>(<span class="keywordtype">void</span>)
<a name="l00099"></a>00099 {
<a name="l00100"></a>00100 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00101"></a>00101 <span class="keyword">delete</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>;
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103
<a name="l00105"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a96c08474dffa1ce6752353800bbe7e0d">00105</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a96c08474dffa1ce6752353800bbe7e0d" title="Set the distance function to use.">setDistanceFunction</a>(<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635" title="The definition of a distance function.">NearestNeighbors<_T>::DistanceFunction</a> &distFun)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a96c08474dffa1ce6752353800bbe7e0d" title="Set the distance function to use.">NearestNeighbors<_T>::setDistanceFunction</a>(distFun);
<a name="l00108"></a>00108 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a36b2e4bad87ded77f629a48425156bdc" title="The data structure used to split data into subtrees.">pivotSelector_</a>.setDistanceFunction(distFun);
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110
<a name="l00111"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ae67b1cf33032b0ab459885b0fcaf9bd7">00111</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ae67b1cf33032b0ab459885b0fcaf9bd7" title="Clear the datastructure.">clear</a>(<span class="keywordtype">void</span>)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 <span class="keyword">delete</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>;
<a name="l00116"></a>00116 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a> = NULL;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 size_ = 0;
<a name="l00119"></a>00119 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.clear();
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00122"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230">00122</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> _T &data)
<a name="l00123"></a>00123 {
<a name="l00124"></a>00124 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00125"></a>00125 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->add(*<span class="keyword">this</span>, data);
<a name="l00126"></a>00126 <span class="keywordflow">else</span>
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a> = <span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>(NULL, degree_, maxNumPtsPerLeaf_, data);
<a name="l00129"></a>00129 size_ = 1;
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00134"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a0c7197b99ddf80e9bcf5db4531abcd94">00134</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> std::vector<_T> &data)
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00137"></a>00137 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230" title="Add an element to the datastructure.">NearestNeighbors<_T>::add</a>(data);
<a name="l00138"></a>00138 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (data.size()>0)
<a name="l00139"></a>00139 {
<a name="l00140"></a>00140 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a> = <span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>(NULL, degree_, maxNumPtsPerLeaf_, data[0]);
<a name="l00141"></a>00141 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=1; i<data.size(); ++i)
<a name="l00142"></a>00142 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->data_.push_back(data[i]);
<a name="l00143"></a>00143 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->needToSplit(*<span class="keyword">this</span>))
<a name="l00144"></a>00144 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->split(*<span class="keyword">this</span>);
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 size_ += data.size();
<a name="l00147"></a>00147 }
<a name="l00149"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a5a5d1ed1969d8a94096af37c2212953c">00149</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a5a5d1ed1969d8a94096af37c2212953c" title="Rebuild the internal data structure.">rebuildDataStructure</a>()
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151 std::vector<_T> lst;
<a name="l00152"></a>00152 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829" title="Get all the elements in the datastructure.">list</a>(lst);
<a name="l00153"></a>00153 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ae67b1cf33032b0ab459885b0fcaf9bd7" title="Clear the datastructure.">clear</a>();
<a name="l00154"></a>00154 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230" title="Add an element to the datastructure.">add</a>(lst);
<a name="l00155"></a>00155 }
<a name="l00156"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a24e1b1aabb8b32e8af7d4ddf96c39e5c">00156</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <span class="keyword">remove</span>(<span class="keyword">const</span> _T &data)
<a name="l00157"></a>00157 {
<a name="l00158"></a>00158 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>) <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00159"></a>00159 NearQueue nbhQueue;
<a name="l00160"></a>00160 <span class="comment">// find data in tree</span>
<a name="l00161"></a>00161 <span class="keywordtype">bool</span> isPivot = nearestKInternal(data, 1, nbhQueue);
<a name="l00162"></a>00162 <span class="keywordflow">if</span> (*nbhQueue.top().first != data)
<a name="l00163"></a>00163 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00164"></a>00164 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.insert(nbhQueue.top().first);
<a name="l00165"></a>00165 size_--;
<a name="l00166"></a>00166 <span class="comment">// if we removed a pivot or if the capacity of removed elements</span>
<a name="l00167"></a>00167 <span class="comment">// has been reached, we rebuild the entire GNAT</span>
<a name="l00168"></a>00168 <span class="keywordflow">if</span> (isPivot || <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.size()>=removedCacheSize_)
<a name="l00169"></a>00169 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a5a5d1ed1969d8a94096af37c2212953c" title="Rebuild the internal data structure.">rebuildDataStructure</a>();
<a name="l00170"></a>00170 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00171"></a>00171 }
<a name="l00172"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a80dc0b7d6598f10ca318562f5e09d3ef">00172</a> <span class="keyword">virtual</span> _T <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a80dc0b7d6598f10ca318562f5e09d3ef" title="Get the nearest neighbor of a point.">nearest</a>(<span class="keyword">const</span> _T &data)<span class="keyword"> const</span>
<a name="l00173"></a>00173 <span class="keyword"> </span>{
<a name="l00174"></a>00174 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 std::vector<_T> nbh;
<a name="l00177"></a>00177 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ad6875308bed42c183ab98480ded8d30c" title="Get the k-nearest neighbors of a point.">nearestK</a>(data, 1, nbh);
<a name="l00178"></a>00178 <span class="keywordflow">if</span> (!nbh.empty()) <span class="keywordflow">return</span> nbh[0];
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"No elements found"</span>);
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182
<a name="l00183"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ad6875308bed42c183ab98480ded8d30c">00183</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#ad6875308bed42c183ab98480ded8d30c" title="Get the k-nearest neighbors of a point.">nearestK</a>(<span class="keyword">const</span> _T &data, std::size_t k, std::vector<_T> &nbh)<span class="keyword"> const</span>
<a name="l00184"></a>00184 <span class="keyword"> </span>{
<a name="l00185"></a>00185 nbh.clear();
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (k == 0) <span class="keywordflow">return</span>;
<a name="l00187"></a>00187 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 NearQueue nbhQueue;
<a name="l00190"></a>00190 nearestKInternal(data, k, nbhQueue);
<a name="l00191"></a>00191 postprocessNearest(nbhQueue, nbh, k);
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a206cf7958c9d6a9187675ea534c3fe87">00195</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a206cf7958c9d6a9187675ea534c3fe87" title="Get the nearest neighbors of a point, within a specified radius.">nearestR</a>(<span class="keyword">const</span> _T &data, <span class="keywordtype">double</span> radius, std::vector<_T> &nbh)<span class="keyword"> const</span>
<a name="l00196"></a>00196 <span class="keyword"> </span>{
<a name="l00197"></a>00197 nbh.clear();
<a name="l00198"></a>00198 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00199"></a>00199 {
<a name="l00200"></a>00200 NearQueue nbhQueue;
<a name="l00201"></a>00201 nearestRInternal(data, radius, nbhQueue);
<a name="l00202"></a>00202 postprocessNearest(nbhQueue, nbh);
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00206"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#aea775c95cee857f24825ef201e2afb78">00206</a> <span class="keyword">virtual</span> std::size_t <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#aea775c95cee857f24825ef201e2afb78" title="Get the number of elements in the datastructure.">size</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00207"></a>00207 <span class="keyword"> </span>{
<a name="l00208"></a>00208 <span class="keywordflow">return</span> size_;
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210
<a name="l00211"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829">00211</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829" title="Get all the elements in the datastructure.">list</a>(std::vector<_T> &data)<span class="keyword"> const</span>
<a name="l00212"></a>00212 <span class="keyword"> </span>{
<a name="l00213"></a>00213 data.clear();
<a name="l00214"></a>00214 data.reserve(<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#aea775c95cee857f24825ef201e2afb78" title="Get the number of elements in the datastructure.">size</a>());
<a name="l00215"></a>00215 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>)
<a name="l00216"></a>00216 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->list(*<span class="keyword">this</span>, data);
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="keyword">friend</span> std::ostream& operator<<(std::ostream& out, const NearestNeighborsGNAT<_T>& gnat)
<a name="l00220"></a>00220 {
<a name="l00221"></a>00221 <span class="keywordflow">if</span> (gnat.tree_)
<a name="l00222"></a>00222 {
<a name="l00223"></a>00223 out << *gnat.tree_;
<a name="l00224"></a>00224 <span class="keywordflow">if</span> (!gnat.removed_.empty())
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 out << <span class="stringliteral">"Elements marked for removal:\n"</span>;
<a name="l00227"></a>00227 <span class="keywordflow">for</span> (<span class="keyword">typename</span> boost::unordered_set<const _T*>::const_iterator it = gnat.removed_.begin();
<a name="l00228"></a>00228 it != gnat.removed_.end(); it++)
<a name="l00229"></a>00229 out << **it << <span class="charliteral">'\t'</span>;
<a name="l00230"></a>00230 out << std::endl;
<a name="l00231"></a>00231 }
<a name="l00232"></a>00232 }
<a name="l00233"></a>00233 <span class="keywordflow">return</span> out;
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235
<a name="l00236"></a>00236 <span class="comment">// for debugging purposes</span>
<a name="l00237"></a>00237 <span class="keywordtype">void</span> integrityCheck()
<a name="l00238"></a>00238 {
<a name="l00239"></a>00239 std::vector<_T> lst;
<a name="l00240"></a>00240 boost::unordered_set<const _T*> tmp;
<a name="l00241"></a>00241 <span class="comment">// get all elements, including those marked for removal</span>
<a name="l00242"></a>00242 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.swap(tmp);
<a name="l00243"></a>00243 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829" title="Get all the elements in the datastructure.">list</a>(lst);
<a name="l00244"></a>00244 <span class="comment">// check if every element marked for removal is also in the tree</span>
<a name="l00245"></a>00245 <span class="keywordflow">for</span> (<span class="keyword">typename</span> boost::unordered_set<const _T*>::iterator it=tmp.begin(); it!=tmp.end(); it++)
<a name="l00246"></a>00246 {
<a name="l00247"></a>00247 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i;
<a name="l00248"></a>00248 <span class="keywordflow">for</span> (i=0; i<lst.size(); ++i)
<a name="l00249"></a>00249 <span class="keywordflow">if</span> (lst[i]==**it)
<a name="l00250"></a>00250 <span class="keywordflow">break</span>;
<a name="l00251"></a>00251 <span class="keywordflow">if</span> (i == lst.size())
<a name="l00252"></a>00252 {
<a name="l00253"></a>00253 <span class="comment">// an element marked for removal is not actually in the tree</span>
<a name="l00254"></a>00254 std::cout << <span class="stringliteral">"***** FAIL!! ******\n"</span> << *<span class="keyword">this</span> << <span class="charliteral">'\n'</span>;
<a name="l00255"></a>00255 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j<lst.size(); ++j) std::cout<<lst[j]<<<span class="charliteral">'\t'</span>;
<a name="l00256"></a>00256 std::cout<<std::endl;
<a name="l00257"></a>00257 }
<a name="l00258"></a>00258 assert(i != lst.size());
<a name="l00259"></a>00259 }
<a name="l00260"></a>00260 <span class="comment">// restore</span>
<a name="l00261"></a>00261 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.swap(tmp);
<a name="l00262"></a>00262 <span class="comment">// get elements in the tree with elements marked for removal purged from the list</span>
<a name="l00263"></a>00263 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829" title="Get all the elements in the datastructure.">list</a>(lst);
<a name="l00264"></a>00264 <span class="keywordflow">if</span> (lst.size() != size_)
<a name="l00265"></a>00265 std::cout << <span class="stringliteral">"#########################################\n"</span> << *<span class="keyword">this</span> << std::endl;
<a name="l00266"></a>00266 assert(lst.size() == size_);
<a name="l00267"></a>00267 }
<a name="l00268"></a>00268 <span class="keyword">protected</span>:
<a name="l00269"></a>00269 <span class="keyword">typedef</span> NearestNeighborsGNAT<_T> GNAT;
<a name="l00270"></a>00270
<a name="l00271"></a>00271 <span class="keywordtype">bool</span> isRemoved(<span class="keyword">const</span> _T& data)<span class="keyword"> const</span>
<a name="l00272"></a>00272 <span class="keyword"> </span>{
<a name="l00273"></a>00273 <span class="keywordflow">return</span> !<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.empty() && <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.find(&data) != <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.end();
<a name="l00274"></a>00274 }
<a name="l00275"></a>00275
<a name="l00276"></a>00276 <span class="comment">// for k=1, return true if the nearest neighbor is a pivot</span>
<a name="l00277"></a>00277 <span class="keywordtype">bool</span> nearestKInternal(<span class="keyword">const</span> _T &data, std::size_t k, NearQueue& nbhQueue)<span class="keyword"> const</span>
<a name="l00278"></a>00278 <span class="keyword"> </span>{
<a name="l00279"></a>00279 <span class="keywordtype">bool</span> isPivot;
<a name="l00280"></a>00280 <span class="keywordtype">double</span> dist;
<a name="l00281"></a>00281 NodeDist nodeDist;
<a name="l00282"></a>00282 NodeQueue nodeQueue;
<a name="l00283"></a>00283
<a name="l00284"></a>00284 isPivot = <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->insertNeighborK(nbhQueue, k, <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->pivot_, data,
<a name="l00285"></a>00285 NearestNeighbors<_T>::distFun_(data, <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->pivot_));
<a name="l00286"></a>00286 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->nearestK(*<span class="keyword">this</span>, data, k, nbhQueue, nodeQueue, isPivot);
<a name="l00287"></a>00287 <span class="keywordflow">while</span> (nodeQueue.size() > 0)
<a name="l00288"></a>00288 {
<a name="l00289"></a>00289 dist = nbhQueue.top().second; <span class="comment">// note the difference with nearestRInternal</span>
<a name="l00290"></a>00290 nodeDist = nodeQueue.top();
<a name="l00291"></a>00291 nodeQueue.pop();
<a name="l00292"></a>00292 <span class="keywordflow">if</span> (nbhQueue.size() == k &&
<a name="l00293"></a>00293 (nodeDist.second > nodeDist.first->maxRadius_ + dist ||
<a name="l00294"></a>00294 nodeDist.second < nodeDist.first->minRadius_ - dist))
<a name="l00295"></a>00295 <span class="keywordflow">break</span>;
<a name="l00296"></a>00296 nodeDist.first->nearestK(*<span class="keyword">this</span>, data, k, nbhQueue, nodeQueue, isPivot);
<a name="l00297"></a>00297 }
<a name="l00298"></a>00298 <span class="keywordflow">return</span> isPivot;
<a name="l00299"></a>00299 }
<a name="l00300"></a>00300 <span class="keywordtype">void</span> nearestRInternal(<span class="keyword">const</span> _T &data, <span class="keywordtype">double</span> radius, NearQueue& nbhQueue)<span class="keyword"> const</span>
<a name="l00301"></a>00301 <span class="keyword"> </span>{
<a name="l00302"></a>00302 <span class="keywordtype">double</span> dist = radius; <span class="comment">// note the difference with nearestKInternal</span>
<a name="l00303"></a>00303 NodeQueue nodeQueue;
<a name="l00304"></a>00304 NodeDist nodeDist;
<a name="l00305"></a>00305
<a name="l00306"></a>00306 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->insertNeighborR(nbhQueue, radius, <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->pivot_,
<a name="l00307"></a>00307 NearestNeighbors<_T>::distFun_(data, <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->pivot_));
<a name="l00308"></a>00308 <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>->nearestR(*<span class="keyword">this</span>, data, radius, nbhQueue, nodeQueue);
<a name="l00309"></a>00309 <span class="keywordflow">while</span> (nodeQueue.size() > 0)
<a name="l00310"></a>00310 {
<a name="l00311"></a>00311 nodeDist = nodeQueue.top();
<a name="l00312"></a>00312 nodeQueue.pop();
<a name="l00313"></a>00313 <span class="keywordflow">if</span> (nodeDist.second > nodeDist.first->maxRadius_ + dist ||
<a name="l00314"></a>00314 nodeDist.second < nodeDist.first->minRadius_ - dist)
<a name="l00315"></a>00315 <span class="keywordflow">break</span>;
<a name="l00316"></a>00316 nodeDist.first->nearestR(*<span class="keyword">this</span>, data, radius, nbhQueue, nodeQueue);
<a name="l00317"></a>00317 }
<a name="l00318"></a>00318 }
<a name="l00319"></a>00319 <span class="keywordtype">void</span> postprocessNearest(NearQueue& nbhQueue, std::vector<_T> &nbh,
<a name="l00320"></a>00320 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k=std::numeric_limits<unsigned int>::max())<span class="keyword"> const</span>
<a name="l00321"></a>00321 <span class="keyword"> </span>{
<a name="l00322"></a>00322 <span class="keyword">typename</span> std::vector<_T>::reverse_iterator it;
<a name="l00323"></a>00323 nbh.resize(nbhQueue.size());
<a name="l00324"></a>00324 <span class="keywordflow">for</span> (it=nbh.rbegin(); it!=nbh.rend(); it++, nbhQueue.pop())
<a name="l00325"></a>00325 *it = *nbhQueue.top().first;
<a name="l00326"></a>00326 }
<a name="l00327"></a>00327
<a name="l00328"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">00328</a> <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>
<a name="l00329"></a>00329 {
<a name="l00330"></a>00330 <span class="keyword">public</span>:
<a name="l00331"></a>00331 <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>* parent, <span class="keywordtype">int</span> degree, <span class="keywordtype">int</span> capacity, <span class="keyword">const</span> _T& pivot)
<a name="l00332"></a>00332 : degree_(degree), pivot_(pivot),
<a name="l00333"></a>00333 minRadius_(std::numeric_limits<double>::infinity()),
<a name="l00334"></a>00334 maxRadius_(-minRadius_), minRange_(degree, minRadius_),
<a name="l00335"></a>00335 maxRange_(degree, maxRadius_)
<a name="l00336"></a>00336 {
<a name="l00337"></a>00337 <span class="comment">// The "+1" is needed because we add an element before we check whether to split</span>
<a name="l00338"></a>00338 data_.reserve(capacity+1);
<a name="l00339"></a>00339 }
<a name="l00340"></a>00340
<a name="l00341"></a>00341 ~<a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>()
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00344"></a>00344 <span class="keyword">delete</span> children_[i];
<a name="l00345"></a>00345 }
<a name="l00346"></a>00346
<a name="l00347"></a>00347 <span class="keywordtype">void</span> add(<a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat, <span class="keyword">const</span> _T& data)
<a name="l00348"></a>00348 {
<a name="l00349"></a>00349 <span class="keywordflow">if</span> (children_.size()==0)
<a name="l00350"></a>00350 {
<a name="l00351"></a>00351 data_.push_back(data);
<a name="l00352"></a>00352 gnat.size_++;
<a name="l00353"></a>00353 <span class="keywordflow">if</span> (needToSplit(gnat))
<a name="l00354"></a>00354 {
<a name="l00355"></a>00355 <span class="keywordflow">if</span> (gnat.<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>.size() > 0)
<a name="l00356"></a>00356 gnat.<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a5a5d1ed1969d8a94096af37c2212953c" title="Rebuild the internal data structure.">rebuildDataStructure</a>();
<a name="l00357"></a>00357 <span class="keywordflow">else</span>
<a name="l00358"></a>00358 split(gnat);
<a name="l00359"></a>00359 }
<a name="l00360"></a>00360 }
<a name="l00361"></a>00361 <span class="keywordflow">else</span>
<a name="l00362"></a>00362 {
<a name="l00363"></a>00363 std::vector<double> dist(children_.size());
<a name="l00364"></a>00364 <span class="keywordtype">double</span> minDist = std::numeric_limits<double>::infinity();
<a name="l00365"></a>00365 <span class="keywordtype">int</span> minInd = -1;
<a name="l00366"></a>00366
<a name="l00367"></a>00367 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00368"></a>00368 <span class="keywordflow">if</span> ((dist[i] = gnat.<a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>(data, children_[i]->pivot_)) < minDist)
<a name="l00369"></a>00369 {
<a name="l00370"></a>00370 minDist = dist[i];
<a name="l00371"></a>00371 minInd = i;
<a name="l00372"></a>00372 }
<a name="l00373"></a>00373 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00374"></a>00374 {
<a name="l00375"></a>00375 <span class="keywordflow">if</span> (children_[i]->minRange_[minInd] > dist[i])
<a name="l00376"></a>00376 children_[i]->minRange_[minInd] = dist[i];
<a name="l00377"></a>00377 <span class="keywordflow">if</span> (children_[i]->maxRange_[minInd] < dist[i])
<a name="l00378"></a>00378 children_[i]->maxRange_[minInd] = dist[i];
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380 <span class="keywordflow">if</span> (minDist < children_[minInd]->minRadius_)
<a name="l00381"></a>00381 children_[minInd]->minRadius_ = minDist;
<a name="l00382"></a>00382 <span class="keywordflow">if</span> (minDist > children_[minInd]->maxRadius_)
<a name="l00383"></a>00383 children_[minInd]->maxRadius_ = minDist;
<a name="l00384"></a>00384
<a name="l00385"></a>00385 children_[minInd]->add(gnat, data);
<a name="l00386"></a>00386 }
<a name="l00387"></a>00387 }
<a name="l00388"></a>00388
<a name="l00389"></a>00389 <span class="keywordtype">bool</span> needToSplit(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat)<span class="keyword"> const</span>
<a name="l00390"></a>00390 <span class="keyword"> </span>{
<a name="l00391"></a>00391 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sz = data_.size();
<a name="l00392"></a>00392 <span class="keywordflow">return</span> sz > gnat.maxNumPtsPerLeaf_ && sz > degree_;
<a name="l00393"></a>00393 }
<a name="l00394"></a>00394 <span class="keywordtype">void</span> split(<a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat)
<a name="l00395"></a>00395 {
<a name="l00396"></a>00396 std::vector<std::vector<double> > dists;
<a name="l00397"></a>00397 std::vector<unsigned int> pivots;
<a name="l00398"></a>00398
<a name="l00399"></a>00399 children_.reserve(degree_);
<a name="l00400"></a>00400 gnat.<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a36b2e4bad87ded77f629a48425156bdc" title="The data structure used to split data into subtrees.">pivotSelector_</a>.kcenters(data_, degree_, pivots, dists);
<a name="l00401"></a>00401 <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<pivots.size(); i++)
<a name="l00402"></a>00402 children_.push_back(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>(<span class="keyword">this</span>, degree_, gnat.maxNumPtsPerLeaf_, data_[pivots[i]]));
<a name="l00403"></a>00403 degree_ = pivots.size(); <span class="comment">// in case fewer than degree_ pivots were found</span>
<a name="l00404"></a>00404 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j<data_.size(); ++j)
<a name="l00405"></a>00405 {
<a name="l00406"></a>00406 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0;
<a name="l00407"></a>00407 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=1; i<degree_; ++i)
<a name="l00408"></a>00408 <span class="keywordflow">if</span> (dists[j][i] < dists[j][k])
<a name="l00409"></a>00409 k = i;
<a name="l00410"></a>00410 <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>* child = children_[k];
<a name="l00411"></a>00411 <span class="keywordflow">if</span> (j != pivots[k])
<a name="l00412"></a>00412 {
<a name="l00413"></a>00413 child->data_.push_back(data_[j]);
<a name="l00414"></a>00414 <span class="keywordflow">if</span> (dists[j][k] > child->maxRadius_)
<a name="l00415"></a>00415 child->maxRadius_ = dists[j][k];
<a name="l00416"></a>00416 <span class="keywordflow">if</span> (dists[j][k] < child->minRadius_)
<a name="l00417"></a>00417 child->minRadius_ = dists[j][k];
<a name="l00418"></a>00418 }
<a name="l00419"></a>00419 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<degree_; ++i)
<a name="l00420"></a>00420 {
<a name="l00421"></a>00421 <span class="keywordflow">if</span> (children_[i]->minRange_[k] > dists[j][i])
<a name="l00422"></a>00422 children_[i]->minRange_[k] = dists[j][i];
<a name="l00423"></a>00423 <span class="keywordflow">if</span> (children_[i]->maxRange_[k] < dists[j][i])
<a name="l00424"></a>00424 children_[i]->maxRange_[k] = dists[j][i];
<a name="l00425"></a>00425 }
<a name="l00426"></a>00426 }
<a name="l00427"></a>00427
<a name="l00428"></a>00428 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<degree_; ++i)
<a name="l00429"></a>00429 {
<a name="l00430"></a>00430 <span class="comment">// make sure degree lies between minDegree_ and maxDegree_</span>
<a name="l00431"></a>00431 children_[i]->degree_ = std::min(std::max(
<a name="l00432"></a>00432 degree_ * (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)(children_[i]->data_.size() / data_.size()),
<a name="l00433"></a>00433 gnat.minDegree_), gnat.maxDegree_);
<a name="l00434"></a>00434 <span class="comment">// singleton</span>
<a name="l00435"></a>00435 <span class="keywordflow">if</span> (children_[i]->minRadius_ == std::numeric_limits<double>::infinity())
<a name="l00436"></a>00436 children_[i]->minRadius_ = children_[i]->maxRadius_ = 0.;
<a name="l00437"></a>00437 }
<a name="l00438"></a>00438 <span class="comment">// this does more than clear(); it also sets capacity to 0 and frees the memory</span>
<a name="l00439"></a>00439 std::vector<_T> tmp;
<a name="l00440"></a>00440 data_.swap(tmp);
<a name="l00441"></a>00441 <span class="comment">// check if new leaves need to be split</span>
<a name="l00442"></a>00442 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<degree_; ++i)
<a name="l00443"></a>00443 <span class="keywordflow">if</span> (children_[i]->needToSplit(gnat))
<a name="l00444"></a>00444 children_[i]->split(gnat);
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446
<a name="l00447"></a>00447 <span class="comment">// return true iff data was added to nbh.</span>
<a name="l00448"></a>00448 <span class="keywordtype">bool</span> insertNeighborK(NearQueue& nbh, std::size_t k, <span class="keyword">const</span> _T& data, <span class="keyword">const</span> _T& key, <span class="keywordtype">double</span> dist)<span class="keyword"> const</span>
<a name="l00449"></a>00449 <span class="keyword"> </span>{
<a name="l00450"></a>00450 <span class="keywordflow">if</span> (nbh.size() < k)
<a name="l00451"></a>00451 {
<a name="l00452"></a>00452 nbh.push(std::make_pair(&data, dist));
<a name="l00453"></a>00453 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00454"></a>00454 }
<a name="l00455"></a>00455 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (dist < nbh.top().second ||
<a name="l00456"></a>00456 (dist < std::numeric_limits<double>::epsilon() && data==key))
<a name="l00457"></a>00457 {
<a name="l00458"></a>00458 nbh.pop();
<a name="l00459"></a>00459 nbh.push(std::make_pair(&data, dist));
<a name="l00460"></a>00460 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00461"></a>00461 }
<a name="l00462"></a>00462 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00463"></a>00463 }
<a name="l00464"></a>00464
<a name="l00465"></a>00465 <span class="comment">// for k=1, isPivot is true if the nearest neighbor is a pivot</span>
<a name="l00466"></a>00466 <span class="keywordtype">void</span> nearestK(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat, <span class="keyword">const</span> _T &data, std::size_t k,
<a name="l00467"></a>00467 NearQueue& nbh, NodeQueue& nodeQueue, <span class="keywordtype">bool</span>& isPivot)<span class="keyword"> const</span>
<a name="l00468"></a>00468 <span class="keyword"> </span>{
<a name="l00469"></a>00469 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<data_.size(); ++i)
<a name="l00470"></a>00470 <span class="keywordflow">if</span> (!gnat.isRemoved(data_[i]))
<a name="l00471"></a>00471 {
<a name="l00472"></a>00472 <span class="keywordflow">if</span> (insertNeighborK(nbh, k, data_[i], data, gnat.<a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>(data, data_[i])))
<a name="l00473"></a>00473 isPivot = <span class="keyword">false</span>;
<a name="l00474"></a>00474 }
<a name="l00475"></a>00475 <span class="keywordflow">if</span> (children_.size() > 0)
<a name="l00476"></a>00476 {
<a name="l00477"></a>00477 <span class="keywordtype">double</span> dist;
<a name="l00478"></a>00478 <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>* child;
<a name="l00479"></a>00479 std::vector<double> distToPivot(children_.size());
<a name="l00480"></a>00480 std::vector<int> permutation(children_.size());
<a name="l00481"></a>00481
<a name="l00482"></a>00482 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<permutation.size(); ++i)
<a name="l00483"></a>00483 permutation[i] = i;
<a name="l00484"></a>00484 std::random_shuffle(permutation.begin(), permutation.end());
<a name="l00485"></a>00485
<a name="l00486"></a>00486 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00487"></a>00487 <span class="keywordflow">if</span> (permutation[i] >= 0)
<a name="l00488"></a>00488 {
<a name="l00489"></a>00489 child = children_[permutation[i]];
<a name="l00490"></a>00490 distToPivot[permutation[i]] = gnat.<a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>(data, child->pivot_);
<a name="l00491"></a>00491 <span class="keywordflow">if</span> (insertNeighborK(nbh, k, child->pivot_, data, distToPivot[permutation[i]]))
<a name="l00492"></a>00492 isPivot = <span class="keyword">true</span>;
<a name="l00493"></a>00493 <span class="keywordflow">if</span> (nbh.size()==k)
<a name="l00494"></a>00494 {
<a name="l00495"></a>00495 dist = nbh.top().second; <span class="comment">// note difference with nearestR</span>
<a name="l00496"></a>00496 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j<children_.size(); ++j)
<a name="l00497"></a>00497 <span class="keywordflow">if</span> (permutation[j] >=0 && i != j &&
<a name="l00498"></a>00498 (distToPivot[permutation[i]] - dist > child->maxRange_[permutation[j]] ||
<a name="l00499"></a>00499 distToPivot[permutation[i]] + dist < child->minRange_[permutation[j]]))
<a name="l00500"></a>00500 permutation[j] = -1;
<a name="l00501"></a>00501 }
<a name="l00502"></a>00502 }
<a name="l00503"></a>00503
<a name="l00504"></a>00504 dist = nbh.top().second;
<a name="l00505"></a>00505 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00506"></a>00506 <span class="keywordflow">if</span> (permutation[i] >= 0)
<a name="l00507"></a>00507 {
<a name="l00508"></a>00508 child = children_[permutation[i]];
<a name="l00509"></a>00509 <span class="keywordflow">if</span> (nbh.size()<k ||
<a name="l00510"></a>00510 (distToPivot[permutation[i]] - dist <= child->maxRadius_ &&
<a name="l00511"></a>00511 distToPivot[permutation[i]] + dist >= child->minRadius_))
<a name="l00512"></a>00512 nodeQueue.push(std::make_pair(child, distToPivot[permutation[i]]));
<a name="l00513"></a>00513 }
<a name="l00514"></a>00514 }
<a name="l00515"></a>00515 }
<a name="l00516"></a>00516
<a name="l00517"></a>00517 <span class="keywordtype">void</span> insertNeighborR(NearQueue& nbh, <span class="keywordtype">double</span> r, <span class="keyword">const</span> _T& data, <span class="keywordtype">double</span> dist)<span class="keyword"> const</span>
<a name="l00518"></a>00518 <span class="keyword"> </span>{
<a name="l00519"></a>00519 <span class="keywordflow">if</span> (dist <= r)
<a name="l00520"></a>00520 nbh.push(std::make_pair(&data, dist));
<a name="l00521"></a>00521 }
<a name="l00522"></a>00522
<a name="l00523"></a>00523 <span class="keywordtype">void</span> nearestR(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat, <span class="keyword">const</span> _T &data, <span class="keywordtype">double</span> r, NearQueue& nbh, NodeQueue& nodeQueue)<span class="keyword"> const</span>
<a name="l00524"></a>00524 <span class="keyword"> </span>{
<a name="l00525"></a>00525 <span class="keywordtype">double</span> dist = r; <span class="comment">//note difference with nearestK</span>
<a name="l00526"></a>00526
<a name="l00527"></a>00527 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<data_.size(); ++i)
<a name="l00528"></a>00528 <span class="keywordflow">if</span> (!gnat.isRemoved(data_[i]))
<a name="l00529"></a>00529 insertNeighborR(nbh, r, data_[i], gnat.<a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>(data, data_[i]));
<a name="l00530"></a>00530 <span class="keywordflow">if</span> (children_.size() > 0)
<a name="l00531"></a>00531 {
<a name="l00532"></a>00532 <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>* child;
<a name="l00533"></a>00533 std::vector<double> distToPivot(children_.size());
<a name="l00534"></a>00534 std::vector<int> permutation(children_.size());
<a name="l00535"></a>00535
<a name="l00536"></a>00536 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<permutation.size(); ++i)
<a name="l00537"></a>00537 permutation[i] = i;
<a name="l00538"></a>00538 std::random_shuffle(permutation.begin(), permutation.end());
<a name="l00539"></a>00539
<a name="l00540"></a>00540 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00541"></a>00541 <span class="keywordflow">if</span> (permutation[i] >= 0)
<a name="l00542"></a>00542 {
<a name="l00543"></a>00543 child = children_[permutation[i]];
<a name="l00544"></a>00544 distToPivot[i] = gnat.<a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>(data, child->pivot_);
<a name="l00545"></a>00545 insertNeighborR(nbh, r, child->pivot_, distToPivot[i]);
<a name="l00546"></a>00546 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j<children_.size(); ++j)
<a name="l00547"></a>00547 <span class="keywordflow">if</span> (permutation[j] >=0 && i != j &&
<a name="l00548"></a>00548 (distToPivot[i] - dist > child->maxRange_[permutation[j]] ||
<a name="l00549"></a>00549 distToPivot[i] + dist < child->minRange_[permutation[j]]))
<a name="l00550"></a>00550 permutation[j] = -1;
<a name="l00551"></a>00551 }
<a name="l00552"></a>00552
<a name="l00553"></a>00553 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00554"></a>00554 <span class="keywordflow">if</span> (permutation[i] >= 0)
<a name="l00555"></a>00555 {
<a name="l00556"></a>00556 child = children_[permutation[i]];
<a name="l00557"></a>00557 <span class="keywordflow">if</span> (distToPivot[i] - dist <= child->maxRadius_ &&
<a name="l00558"></a>00558 distToPivot[i] + dist >= child->minRadius_)
<a name="l00559"></a>00559 nodeQueue.push(std::make_pair(child, distToPivot[i]));
<a name="l00560"></a>00560 }
<a name="l00561"></a>00561 }
<a name="l00562"></a>00562 }
<a name="l00563"></a>00563
<a name="l00564"></a>00564 <span class="keywordtype">void</span> list(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">GNAT</a>& gnat, std::vector<_T> &data)<span class="keyword"> const</span>
<a name="l00565"></a>00565 <span class="keyword"> </span>{
<a name="l00566"></a>00566 <span class="keywordflow">if</span> (!gnat.isRemoved(pivot_))
<a name="l00567"></a>00567 data.push_back(pivot_);
<a name="l00568"></a>00568 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<data_.size(); ++i)
<a name="l00569"></a>00569 <span class="keywordflow">if</span>(!gnat.isRemoved(data_[i]))
<a name="l00570"></a>00570 data.push_back(data_[i]);
<a name="l00571"></a>00571 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<children_.size(); ++i)
<a name="l00572"></a>00572 children_[i]->list(gnat, data);
<a name="l00573"></a>00573 }
<a name="l00574"></a>00574
<a name="l00575"></a>00575 <span class="keyword">friend</span> std::ostream& operator<<(std::ostream& out, <span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a>& node)
<a name="l00576"></a>00576 {
<a name="l00577"></a>00577 out << <span class="stringliteral">"\ndegree:\t"</span> << node.degree_;
<a name="l00578"></a>00578 out << <span class="stringliteral">"\nminRadius:\t"</span> << node.minRadius_;
<a name="l00579"></a>00579 out << <span class="stringliteral">"\nmaxRadius:\t"</span> << node.maxRadius_;
<a name="l00580"></a>00580 out << <span class="stringliteral">"\nminRange:\t"</span>;
<a name="l00581"></a>00581 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<node.minRange_.size(); ++i)
<a name="l00582"></a>00582 out << node.minRange_[i] << <span class="charliteral">'\t'</span>;
<a name="l00583"></a>00583 out << <span class="stringliteral">"\nmaxRange: "</span>;
<a name="l00584"></a>00584 for (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<node.maxRange_.size(); ++i)
<a name="l00585"></a>00585 out << node.maxRange_[i] << <span class="charliteral">'\t'</span>;
<a name="l00586"></a>00586 out << <span class="stringliteral">"\npivot:\t"</span> << node.pivot_;
<a name="l00587"></a>00587 out << <span class="stringliteral">"\ndata: "</span>;
<a name="l00588"></a>00588 for (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<node.data_.size(); ++i)
<a name="l00589"></a>00589 out << node.data_[i] << <span class="charliteral">'\t'</span>;
<a name="l00590"></a>00590 out << <span class="stringliteral">"\nthis:\t"</span> << &node;
<a name="l00591"></a>00591 out << <span class="stringliteral">"\nchildren:\n"</span>;
<a name="l00592"></a>00592 for (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<node.children_.size(); ++i)
<a name="l00593"></a>00593 out << node.children_[i] << <span class="charliteral">'\t'</span>;
<a name="l00594"></a>00594 out << <span class="charliteral">'\n'</span>;
<a name="l00595"></a>00595 for (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<node.children_.size(); ++i)
<a name="l00596"></a>00596 out << *node.children_[i] << <span class="charliteral">'\n'</span>;
<a name="l00597"></a>00597 <span class="keywordflow">return</span> out;
<a name="l00598"></a>00598 }
<a name="l00599"></a>00599
<a name="l00600"></a>00600 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> degree_;
<a name="l00601"></a>00601 <span class="keyword">const</span> _T pivot_;
<a name="l00602"></a>00602 <span class="keywordtype">double</span> minRadius_;
<a name="l00603"></a>00603 <span class="keywordtype">double</span> maxRadius_;
<a name="l00604"></a>00604 std::vector<double> minRange_;
<a name="l00605"></a>00605 std::vector<double> maxRange_;
<a name="l00606"></a>00606 std::vector<_T> data_;
<a name="l00607"></a>00607 std::vector<Node*> children_;
<a name="l00608"></a>00608 };
<a name="l00609"></a>00609
<a name="l00610"></a>00610
<a name="l00612"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa">00612</a> <a class="code" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a> *<a class="code" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa" title="The data elements stored in this structure.">tree_</a>;
<a name="l00613"></a>00613
<a name="l00614"></a>00614 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> degree_;
<a name="l00615"></a>00615 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minDegree_;
<a name="l00616"></a>00616 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxDegree_;
<a name="l00617"></a>00617 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxNumPtsPerLeaf_;
<a name="l00618"></a>00618 std::size_t size_;
<a name="l00619"></a>00619 std::size_t removedCacheSize_;
<a name="l00620"></a>00620
<a name="l00622"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a36b2e4bad87ded77f629a48425156bdc">00622</a> <a class="code" href="classompl_1_1GreedyKCenters.html" title="An instance of this class can be used to greedily select a given number of representatives from a set...">GreedyKCenters<_T></a> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a36b2e4bad87ded77f629a48425156bdc" title="The data structure used to split data into subtrees.">pivotSelector_</a>;
<a name="l00623"></a>00623
<a name="l00625"></a><a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26">00625</a> boost::unordered_set<const _T*> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26" title="Cache of removed elements.">removed_</a>;
<a name="l00626"></a>00626 };
<a name="l00627"></a>00627
<a name="l00628"></a>00628 }
<a name="l00629"></a>00629
<a name="l00630"></a>00630 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
</div>
<div class="footer span-22 push-2 last">
<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
e7618febbb9cbed15bb79e326774c050
>
files
>
188
