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<div class="title">NearestNeighbors.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">* "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: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <vector></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <boost/bind.hpp></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <boost/function.hpp></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="l00048"></a>00048 <span class="keyword">template</span><<span class="keyword">typename</span> _T>
<a name="l00049"></a><a class="code" href="classompl_1_1NearestNeighbors.html">00049</a> <span class="keyword">class </span><a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors</a>
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="keyword">public</span>:
<a name="l00052"></a>00052
<a name="l00054"></a><a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635">00054</a> <span class="keyword">typedef</span> boost::function2<double, const _T&, const _T&> <a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635" title="The definition of a distance function.">DistanceFunction</a>;
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063
<a name="l00065"></a><a class="code" href="classompl_1_1NearestNeighbors.html#abb8cd1ac5b87a0a01b27aecab2094d8f">00065</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#abb8cd1ac5b87a0a01b27aecab2094d8f" title="Set the distance function to use.">setDistanceFunction</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635" title="The definition of a distance function.">DistanceFunction</a> &distFun)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a> = distFun;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069
<a name="l00071"></a><a class="code" href="classompl_1_1NearestNeighbors.html#aa637f6f51564e09e4e8795ea6b092b86">00071</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635" title="The definition of a distance function.">DistanceFunction</a>& <a class="code" href="classompl_1_1NearestNeighbors.html#aa637f6f51564e09e4e8795ea6b092b86" title="Get the distance function used.">getDistanceFunction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00072"></a>00072 <span class="keyword"> </span>{
<a name="l00073"></a>00073 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>;
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00077"></a>00077 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a98e751a93407e17e3bd8dc59317f6f61" title="Clear the datastructure.">clear</a>(<span class="keywordtype">void</span>) = 0;
<a name="l00078"></a>00078
<a name="l00080"></a>00080 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#acdec6e843eb3e2f039df9b5b24ce0ad7" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> _T &data) = 0;
<a name="l00081"></a>00081
<a name="l00083"></a><a class="code" href="classompl_1_1NearestNeighbors.html#aae3c2592a0ef5c64f3bde107c144d70a">00083</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#acdec6e843eb3e2f039df9b5b24ce0ad7" title="Add an element to the datastructure.">add</a>(<span class="keyword">const</span> std::vector<_T> &data)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<_T>::const_iterator elt = data.begin() ; elt != data.end() ; ++elt)
<a name="l00086"></a>00086 <a class="code" href="classompl_1_1NearestNeighbors.html#acdec6e843eb3e2f039df9b5b24ce0ad7" title="Add an element to the datastructure.">add</a>(*elt);
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00090"></a>00090 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <span class="keyword">remove</span>(<span class="keyword">const</span> _T &data) = 0;
<a name="l00091"></a>00091
<a name="l00093"></a>00093 <span class="keyword">virtual</span> _T <a class="code" href="classompl_1_1NearestNeighbors.html#af36aec28328e97ba999c51be4f8987c9" title="Get the nearest neighbor of a point.">nearest</a>(<span class="keyword">const</span> _T &data) <span class="keyword">const</span> = 0;
<a name="l00094"></a>00094
<a name="l00096"></a>00096 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#ae3d54c8565ec5ff4f97c31b3d60d5091" 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> = 0;
<a name="l00097"></a>00097
<a name="l00099"></a>00099 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#a473fbd3b00e2eb4aa6b56c767e702e9c" 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> = 0;
<a name="l00100"></a>00100
<a name="l00102"></a>00102 <span class="keyword">virtual</span> std::size_t <a class="code" href="classompl_1_1NearestNeighbors.html#a26dad985121585d00395e0a53ae329ea" title="Get the number of elements in the datastructure.">size</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00103"></a>00103
<a name="l00105"></a>00105 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1NearestNeighbors.html#ac2d3971a579f748aba6ad2b10f118562" title="Get all the elements in the datastructure.">list</a>(std::vector<_T> &data) <span class="keyword">const</span> = 0;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="keyword">protected</span>:
<a name="l00108"></a>00108
<a name="l00110"></a><a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f">00110</a> <a class="code" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635" title="The definition of a distance function.">DistanceFunction</a> <a class="code" href="classompl_1_1NearestNeighbors.html#a6f15f3b591fb69b91ca35e504723b54f" title="The used distance function.">distFun_</a>;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 };
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="preprocessor">#endif</span>
</pre></div></div>
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