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<div class="title">NearestNeighborsLinear.h</div>  </div>
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<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) 2008, Willow Garage, Inc.</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 Willow Garage 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">*  &quot;AS IS&quot; 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: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_LINEAR_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_LINEAR_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighbors.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;algorithm&gt;</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="keyword">namespace </span>ompl
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 
<a name="l00056"></a>00056     <span class="keyword">template</span>&lt;<span class="keyword">typename</span> _T&gt;
<a name="l00057"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html">00057</a>     <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear</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>&lt;_T&gt;
<a name="l00058"></a>00058     {
<a name="l00059"></a>00059     <span class="keyword">public</span>:
<a name="l00060"></a>00060         <a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;_T&gt;</a>()
<a name="l00061"></a>00061         {
<a name="l00062"></a>00062         }
<a name="l00063"></a>00063 
<a name="l00064"></a>00064         <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear</a>(<span class="keywordtype">void</span>)
<a name="l00065"></a>00065         {
<a name="l00066"></a>00066         }
<a name="l00067"></a>00067 
<a name="l00068"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a8375fc42d5b46ed740945322cf5c650f">00068</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a8375fc42d5b46ed740945322cf5c650f" title="Clear the datastructure.">clear</a>(<span class="keywordtype">void</span>)
<a name="l00069"></a>00069         {
<a name="l00070"></a>00070             <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.clear();
<a name="l00071"></a>00071         }
<a name="l00072"></a>00072 
<a name="l00073"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a806e0408ffd272cc56679af0ebf27ec6">00073</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a806e0408ffd272cc56679af0ebf27ec6" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> _T &amp;data)
<a name="l00074"></a>00074         {
<a name="l00075"></a>00075             <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.push_back(data);
<a name="l00076"></a>00076         }
<a name="l00077"></a>00077 
<a name="l00078"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a8be4e7098a8a42f888e9ec19e64e4ef1">00078</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a806e0408ffd272cc56679af0ebf27ec6" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> std::vector&lt;_T&gt; &amp;data)
<a name="l00079"></a>00079         {
<a name="l00080"></a>00080             <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.reserve(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.size() + data.size());
<a name="l00081"></a>00081             <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.insert(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.end(), data.begin(), data.end());
<a name="l00082"></a>00082         }
<a name="l00083"></a>00083 
<a name="l00084"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a39f7343cae117b245483f663e25bd06c">00084</a>         <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <span class="keyword">remove</span>(<span class="keyword">const</span> _T &amp;data)
<a name="l00085"></a>00085         {
<a name="l00086"></a>00086             <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.empty())
<a name="l00087"></a>00087                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.size() - 1 ; i &gt;= 0 ; --i)
<a name="l00088"></a>00088                     <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>[i] == data)
<a name="l00089"></a>00089                     {
<a name="l00090"></a>00090                         <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.erase(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.begin() + i);
<a name="l00091"></a>00091                         <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00092"></a>00092                     }
<a name="l00093"></a>00093             <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00094"></a>00094         }
<a name="l00095"></a>00095 
<a name="l00096"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#af82484d2cc4f469dc6e0456123210ab9">00096</a>         <span class="keyword">virtual</span> _T <a class="code" href="classompl_1_1NearestNeighborsLinear.html#af82484d2cc4f469dc6e0456123210ab9" title="Get the nearest neighbor of a point.">nearest</a>(<span class="keyword">const</span> _T &amp;data)<span class="keyword"> const</span>
<a name="l00097"></a>00097 <span class="keyword">        </span>{
<a name="l00098"></a>00098             <span class="keyword">const</span> std::size_t sz = <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.size();
<a name="l00099"></a>00099             std::size_t pos = sz;
<a name="l00100"></a>00100             <span class="keywordtype">double</span> dmin = 0.0;
<a name="l00101"></a>00101             <span class="keywordflow">for</span> (std::size_t i = 0 ; i &lt; sz ; ++i)
<a name="l00102"></a>00102             {
<a name="l00103"></a>00103                 <span class="keywordtype">double</span> distance = <a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">NearestNeighbors&lt;_T&gt;::distFun_</a>(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>[i], data);
<a name="l00104"></a>00104                 <span class="keywordflow">if</span> (pos == sz || dmin &gt; distance)
<a name="l00105"></a>00105                 {
<a name="l00106"></a>00106                     pos = i;
<a name="l00107"></a>00107                     dmin = distance;
<a name="l00108"></a>00108                 }
<a name="l00109"></a>00109             }
<a name="l00110"></a>00110             <span class="keywordflow">if</span> (pos != sz)
<a name="l00111"></a>00111                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>[pos];
<a name="l00112"></a>00112 
<a name="l00113"></a>00113             <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;No elements found&quot;</span>);
<a name="l00114"></a>00114         }
<a name="l00115"></a>00115 
<a name="l00116"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#ae26a7842faa8f914277155185ff82bbf">00116</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#ae26a7842faa8f914277155185ff82bbf" title="Get the k-nearest neighbors of a point.">nearestK</a>(<span class="keyword">const</span> _T &amp;data, std::size_t k, std::vector&lt;_T&gt; &amp;nbh)<span class="keyword"> const</span>
<a name="l00117"></a>00117 <span class="keyword">        </span>{
<a name="l00118"></a>00118             nbh = <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>;
<a name="l00119"></a>00119             <span class="keywordflow">if</span> (nbh.size() &gt; k)
<a name="l00120"></a>00120             {
<a name="l00121"></a>00121                 std::partial_sort(nbh.begin(), nbh.begin() + k, nbh.end(),
<a name="l00122"></a>00122                                   ElemSort(data, <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;_T&gt;::distFun_</a>));
<a name="l00123"></a>00123                 nbh.resize(k);
<a name="l00124"></a>00124             }
<a name="l00125"></a>00125             <span class="keywordflow">else</span>
<a name="l00126"></a>00126             {
<a name="l00127"></a>00127                 std::sort(nbh.begin(), nbh.end(), ElemSort(data, <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;_T&gt;::distFun_</a>));
<a name="l00128"></a>00128             }
<a name="l00129"></a>00129         }
<a name="l00130"></a>00130 
<a name="l00131"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a833519244d353b76a0c2e878e8234607">00131</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a833519244d353b76a0c2e878e8234607" title="Get the nearest neighbors of a point, within a specified radius.">nearestR</a>(<span class="keyword">const</span> _T &amp;data, <span class="keywordtype">double</span> radius, std::vector&lt;_T&gt; &amp;nbh)<span class="keyword"> const</span>
<a name="l00132"></a>00132 <span class="keyword">        </span>{
<a name="l00133"></a>00133             nbh.clear();
<a name="l00134"></a>00134             <span class="keywordflow">for</span> (std::size_t i = 0 ; i &lt; <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.size() ; ++i)
<a name="l00135"></a>00135                 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;_T&gt;::distFun_</a>(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>[i], data) &lt;= radius)
<a name="l00136"></a>00136                     nbh.push_back(<a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>[i]);
<a name="l00137"></a>00137             std::sort(nbh.begin(), nbh.end(), ElemSort(data, <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;_T&gt;::distFun_</a>));
<a name="l00138"></a>00138         }
<a name="l00139"></a>00139 
<a name="l00140"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#ab03508e91e01f7d300887d3aaa586a64">00140</a>         <span class="keyword">virtual</span> std::size_t <a class="code" href="classompl_1_1NearestNeighborsLinear.html#ab03508e91e01f7d300887d3aaa586a64" title="Get the number of elements in the datastructure.">size</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00141"></a>00141 <span class="keyword">        </span>{
<a name="l00142"></a>00142             <span class="keywordflow">return</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>.size();
<a name="l00143"></a>00143         }
<a name="l00144"></a>00144 
<a name="l00145"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#af0095b24dbae29d4d051589d8a107ac2">00145</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html#af0095b24dbae29d4d051589d8a107ac2" title="Get all the elements in the datastructure.">list</a>(std::vector&lt;_T&gt; &amp;data)<span class="keyword"> const</span>
<a name="l00146"></a>00146 <span class="keyword">        </span>{
<a name="l00147"></a>00147             data = <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>;
<a name="l00148"></a>00148         }
<a name="l00149"></a>00149 
<a name="l00150"></a>00150     <span class="keyword">protected</span>:
<a name="l00151"></a>00151 
<a name="l00153"></a><a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182">00153</a>         std::vector&lt;_T&gt;   <a class="code" href="classompl_1_1NearestNeighborsLinear.html#a6af69c36b87793d1004d15b986117182" title="The data elements stored in this structure.">data_</a>;
<a name="l00154"></a>00154 
<a name="l00155"></a>00155     <span class="keyword">private</span>:
<a name="l00156"></a>00156 
<a name="l00157"></a>00157         <span class="keyword">struct </span>ElemSort
<a name="l00158"></a>00158         {
<a name="l00159"></a>00159             ElemSort(<span class="keyword">const</span> _T &amp;e, <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&lt;_T&gt;::DistanceFunction</a> &amp;df) : e_(e), df_(df)
<a name="l00160"></a>00160             {
<a name="l00161"></a>00161             }
<a name="l00162"></a>00162 
<a name="l00163"></a>00163             <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> _T &amp;a, <span class="keyword">const</span> _T &amp;b)<span class="keyword"> const</span>
<a name="l00164"></a>00164 <span class="keyword">            </span>{
<a name="l00165"></a>00165                 <span class="keywordflow">return</span> df_(a, e_) &lt; df_(b, e_);
<a name="l00166"></a>00166             }
<a name="l00167"></a>00167 
<a name="l00168"></a>00168             <span class="keyword">const</span> _T                                              &amp;e_;
<a name="l00169"></a>00169             <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&lt;_T&gt;::DistanceFunction</a> &amp;df_;
<a name="l00170"></a>00170         };
<a name="l00171"></a>00171 
<a name="l00172"></a>00172     };
<a name="l00173"></a>00173 
<a name="l00174"></a>00174 
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176 
<a name="l00177"></a>00177 <span class="preprocessor">#endif</span>
</pre></div></div>
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