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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_SQRT_APPROX_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_SQRT_APPROX_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighborsLinear.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;algorithm&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;cmath&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="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_1NearestNeighborsSqrtApprox.html">00057</a>     <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html" title="A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...">NearestNeighborsSqrtApprox</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear</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_1NearestNeighborsSqrtApprox.html" title="A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...">NearestNeighborsSqrtApprox</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear&lt;_T&gt;</a>(), <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a>(0), <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a>(0)
<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_1NearestNeighborsSqrtApprox.html" title="A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...">NearestNeighborsSqrtApprox</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_1NearestNeighborsSqrtApprox.html#a1c40904d6942fbbe4c0eed5b129ba233">00068</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a1c40904d6942fbbe4c0eed5b129ba233" 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_1NearestNeighborsSqrtApprox.html#a1c40904d6942fbbe4c0eed5b129ba233" title="Clear the datastructure.">NearestNeighborsLinear&lt;_T&gt;::clear</a>();
<a name="l00071"></a>00071             <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a> = 0;
<a name="l00072"></a>00072             <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a> = 0;
<a name="l00073"></a>00073         }
<a name="l00074"></a>00074 
<a name="l00075"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a11938c39607da11312eb86aadfd5a31e">00075</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a11938c39607da11312eb86aadfd5a31e" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> _T &amp;data)
<a name="l00076"></a>00076         {
<a name="l00077"></a>00077             <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a11938c39607da11312eb86aadfd5a31e" title="Add an element to the datastructure.">NearestNeighborsLinear&lt;_T&gt;::add</a>(data);
<a name="l00078"></a>00078             updateCheckCount();
<a name="l00079"></a>00079         }
<a name="l00080"></a>00080 
<a name="l00081"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a4dddcdda3bad96170741194eec86cbe8">00081</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a11938c39607da11312eb86aadfd5a31e" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> std::vector&lt;_T&gt; &amp;data)
<a name="l00082"></a>00082         {
<a name="l00083"></a>00083             <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a11938c39607da11312eb86aadfd5a31e" title="Add an element to the datastructure.">NearestNeighborsLinear&lt;_T&gt;::add</a>(data);
<a name="l00084"></a>00084             updateCheckCount();
<a name="l00085"></a>00085         }
<a name="l00086"></a>00086 
<a name="l00087"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a8608eb9488f4bcccf552e6c32788edb5">00087</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="l00088"></a>00088         {
<a name="l00089"></a>00089             <span class="keywordtype">bool</span> result = <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a8608eb9488f4bcccf552e6c32788edb5" title="Remove an element from the datastructure.">NearestNeighborsLinear&lt;_T&gt;::remove</a>(data);
<a name="l00090"></a>00090             <span class="keywordflow">if</span> (result)
<a name="l00091"></a>00091                 updateCheckCount();
<a name="l00092"></a>00092             <span class="keywordflow">return</span> result;
<a name="l00093"></a>00093         }
<a name="l00094"></a>00094 
<a name="l00095"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a896e254c8bece8de4f4b5e8a00dee5b0">00095</a>         <span class="keyword">virtual</span> _T <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#a896e254c8bece8de4f4b5e8a00dee5b0" 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="l00096"></a>00096 <span class="keyword">        </span>{
<a name="l00097"></a>00097             <span class="keyword">const</span> std::size_t n = <a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear&lt;_T&gt;::data_</a>.<a class="code" href="classompl_1_1NearestNeighborsLinear.html#ab03508e91e01f7d300887d3aaa586a64" title="Get the number of elements in the datastructure.">size</a>();
<a name="l00098"></a>00098             std::size_t pos = n;
<a name="l00099"></a>00099 
<a name="l00100"></a>00100             <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a> &gt; 0 &amp;&amp; n &gt; 0)
<a name="l00101"></a>00101             {
<a name="l00102"></a>00102                 <span class="keywordtype">double</span> dmin = 0.0;
<a name="l00103"></a>00103                 <span class="keywordflow">for</span> (std::size_t j = 0 ; j &lt; <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a> ; ++j)
<a name="l00104"></a>00104                 {
<a name="l00105"></a>00105                     std::size_t i = (j * checks_ + <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a>) % n;
<a name="l00106"></a>00106 
<a name="l00107"></a>00107                     <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" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear&lt;_T&gt;::data_</a>[i], data);
<a name="l00108"></a>00108                     <span class="keywordflow">if</span> (pos == n || dmin &gt; distance)
<a name="l00109"></a>00109                     {
<a name="l00110"></a>00110                         pos = i;
<a name="l00111"></a>00111                         dmin = distance;
<a name="l00112"></a>00112                     }
<a name="l00113"></a>00113                 }
<a name="l00114"></a>00114                 <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a> = (<a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a> + 1) % checks_;
<a name="l00115"></a>00115             }
<a name="l00116"></a>00116             <span class="keywordflow">if</span> (pos != n)
<a name="l00117"></a>00117                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear&lt;_T&gt;::data_</a>[pos];
<a name="l00118"></a>00118 
<a name="l00119"></a>00119             <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="l00120"></a>00120         }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122     <span class="keyword">protected</span>:
<a name="l00123"></a>00123 
<a name="l00124"></a>00124         <span class="keyword">inline</span>
<a name="l00125"></a>00125         <span class="keywordtype">void</span> updateCheckCount(<span class="keywordtype">void</span>)
<a name="l00126"></a>00126         {
<a name="l00127"></a>00127             <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a> = 1 + (std::size_t)floor(sqrt((<span class="keywordtype">double</span>)<a class="code" href="classompl_1_1NearestNeighborsLinear.html" title="A nearest neighbors datastructure that uses linear search.">NearestNeighborsLinear&lt;_T&gt;::data_</a>.<a class="code" href="classompl_1_1NearestNeighborsLinear.html#ab03508e91e01f7d300887d3aaa586a64" title="Get the number of elements in the datastructure.">size</a>()));
<a name="l00128"></a>00128         }
<a name="l00129"></a>00129 
<a name="l00131"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3">00131</a>         std::size_t         <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#af5cfd5ec0b959ec740b192f08999d7d3" title="The number of checks to be performed when looking for a nearest neighbor.">checks_</a>;
<a name="l00132"></a>00132 
<a name="l00134"></a><a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b">00134</a>         <span class="keyword">mutable</span> std::size_t <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html#ad52b7cdb2a00ed4f0df7af2faf9dae4b" title="The offset to start checking at (between 0 and checks_)">offset_</a>;
<a name="l00135"></a>00135 
<a name="l00136"></a>00136     };
<a name="l00137"></a>00137 
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139 
<a name="l00140"></a>00140 <span class="preprocessor">#endif</span>
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  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
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