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<title>OMPL: ompl::NearestNeighborsGNAT< _T > Class Template Reference</title>
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<div class="title">ompl::NearestNeighborsGNAT< _T > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::NearestNeighborsGNAT" --><!-- doxytag: inherits="ompl::NearestNeighbors" -->
<p>Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.
<a href="classompl_1_1NearestNeighborsGNAT.html#details">More...</a></p>
<p><code>#include <<a class="el" href="NearestNeighborsGNAT_8h_source.html">NearestNeighborsGNAT.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::NearestNeighborsGNAT< _T >:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1NearestNeighborsGNAT__inherit__graph.png" border="0" usemap="#ompl_1_1NearestNeighborsGNAT_3_01__T_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1NearestNeighborsGNAT_3_01__T_01_4_inherit__map" id="ompl_1_1NearestNeighborsGNAT_3_01__T_01_4_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries." alt="" coords="23,5,225,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1NearestNeighborsGNAT-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1NearestNeighborsGNAT_1_1DataDistCompare.html">DataDistCompare</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1NearestNeighborsGNAT_1_1NodeDistCompare.html">NodeDistCompare</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa3e641f9e6951ec3a600ba8c8b3855c4"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::NearestNeighborsGNAT" ref="aa3e641f9e6951ec3a600ba8c8b3855c4" args="(unsigned int degree=4, unsigned int minDegree=2, unsigned int maxDegree=6, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=50)" -->
 </td><td class="memItemRight" valign="bottom"><b>NearestNeighborsGNAT</b> (unsigned int degree=4, unsigned int minDegree=2, unsigned int maxDegree=6, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=50)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a96c08474dffa1ce6752353800bbe7e0d"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::setDistanceFunction" ref="a96c08474dffa1ce6752353800bbe7e0d" args="(const typename NearestNeighbors< _T >::DistanceFunction &distFun)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a96c08474dffa1ce6752353800bbe7e0d">setDistanceFunction</a> (const typename <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< _T >::<a class="el" href="classompl_1_1NearestNeighbors.html#a343f54d347b646b65128187e3222f635">DistanceFunction</a> &distFun)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the distance function to use. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae67b1cf33032b0ab459885b0fcaf9bd7"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::clear" ref="ae67b1cf33032b0ab459885b0fcaf9bd7" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#ae67b1cf33032b0ab459885b0fcaf9bd7">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a60b97dc0a8a7f31bd63a351ea930a230"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::add" ref="a60b97dc0a8a7f31bd63a351ea930a230" args="(const _T &data)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a60b97dc0a8a7f31bd63a351ea930a230">add</a> (const _T &data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add an element to the datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0c7197b99ddf80e9bcf5db4531abcd94"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::add" ref="a0c7197b99ddf80e9bcf5db4531abcd94" args="(const std::vector< _T > &data)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a0c7197b99ddf80e9bcf5db4531abcd94">add</a> (const std::vector< _T > &data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a vector of points. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a5d1ed1969d8a94096af37c2212953c"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::rebuildDataStructure" ref="a5a5d1ed1969d8a94096af37c2212953c" args="()" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a5a5d1ed1969d8a94096af37c2212953c">rebuildDataStructure</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the internal data structure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a24e1b1aabb8b32e8af7d4ddf96c39e5c"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::remove" ref="a24e1b1aabb8b32e8af7d4ddf96c39e5c" args="(const _T &data)" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a24e1b1aabb8b32e8af7d4ddf96c39e5c">remove</a> (const _T &data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove an element from the datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80dc0b7d6598f10ca318562f5e09d3ef"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::nearest" ref="a80dc0b7d6598f10ca318562f5e09d3ef" args="(const _T &data) const " -->
virtual _T </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a80dc0b7d6598f10ca318562f5e09d3ef">nearest</a> (const _T &data) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the nearest neighbor of a point. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6875308bed42c183ab98480ded8d30c"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::nearestK" ref="ad6875308bed42c183ab98480ded8d30c" args="(const _T &data, std::size_t k, std::vector< _T > &nbh) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#ad6875308bed42c183ab98480ded8d30c">nearestK</a> (const _T &data, std::size_t k, std::vector< _T > &nbh) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the k-nearest neighbors of a point. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a206cf7958c9d6a9187675ea534c3fe87"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::nearestR" ref="a206cf7958c9d6a9187675ea534c3fe87" args="(const _T &data, double radius, std::vector< _T > &nbh) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a206cf7958c9d6a9187675ea534c3fe87">nearestR</a> (const _T &data, double radius, std::vector< _T > &nbh) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the nearest neighbors of a point, within a specified radius. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aea775c95cee857f24825ef201e2afb78"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::size" ref="aea775c95cee857f24825ef201e2afb78" args="(void) const " -->
virtual std::size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#aea775c95cee857f24825ef201e2afb78">size</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of elements in the datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4b96ff84909b0246f1e69427e469e829"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::list" ref="a4b96ff84909b0246f1e69427e469e829" args="(std::vector< _T > &data) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a4b96ff84909b0246f1e69427e469e829">list</a> (std::vector< _T > &data) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get all the elements in the datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8a6022ac1dcd1c20a0a6dbce9724fd8"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::integrityCheck" ref="af8a6022ac1dcd1c20a0a6dbce9724fd8" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>integrityCheck</b> ()</td></tr>
<tr><td colspan="2"><h2><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2ce1009dfd3a42a07b82069cb97cc962"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::DataDist" ref="a2ce1009dfd3a42a07b82069cb97cc962" args="" -->
typedef std::pair< const _T <br class="typebreak"/>
*, double > </td><td class="memItemRight" valign="bottom"><b>DataDist</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adebd702ccd233879e7465e722bce9593"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::NearQueue" ref="adebd702ccd233879e7465e722bce9593" args="" -->
typedef std::priority_queue<br class="typebreak"/>
< DataDist, std::vector<br class="typebreak"/>
< DataDist >, <a class="el" href="structompl_1_1NearestNeighborsGNAT_1_1DataDistCompare.html">DataDistCompare</a> > </td><td class="memItemRight" valign="bottom"><b>NearQueue</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca71490cbed95b0c0ba5863ef002cdbe"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::NodeDist" ref="aca71490cbed95b0c0ba5863ef002cdbe" args="" -->
typedef std::pair< <a class="el" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a> *, double > </td><td class="memItemRight" valign="bottom"><b>NodeDist</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8de66b3eb8a3e2995be36237d0ee8dbc"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::NodeQueue" ref="a8de66b3eb8a3e2995be36237d0ee8dbc" args="" -->
typedef std::priority_queue<br class="typebreak"/>
< NodeDist, std::vector<br class="typebreak"/>
< NodeDist >, <a class="el" href="structompl_1_1NearestNeighborsGNAT_1_1NodeDistCompare.html">NodeDistCompare</a> > </td><td class="memItemRight" valign="bottom"><b>NodeQueue</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="accdc015465c49a040bb6656b23be0e70"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::GNAT" ref="accdc015465c49a040bb6656b23be0e70" args="" -->
typedef <a class="el" href="classompl_1_1NearestNeighborsGNAT.html">NearestNeighborsGNAT</a>< _T > </td><td class="memItemRight" valign="bottom"><b>GNAT</b></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a666ee2a3d6521c163b4f433c1c78b6"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::isRemoved" ref="a3a666ee2a3d6521c163b4f433c1c78b6" args="(const _T &data) const " -->
bool </td><td class="memItemRight" valign="bottom"><b>isRemoved</b> (const _T &data) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a23f766f698acbe58ec08f232dc02fee7"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::nearestKInternal" ref="a23f766f698acbe58ec08f232dc02fee7" args="(const _T &data, std::size_t k, NearQueue &nbhQueue) const " -->
bool </td><td class="memItemRight" valign="bottom"><b>nearestKInternal</b> (const _T &data, std::size_t k, NearQueue &nbhQueue) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8c6fc2226e7904dc1d20d5d98849bea4"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::nearestRInternal" ref="a8c6fc2226e7904dc1d20d5d98849bea4" args="(const _T &data, double radius, NearQueue &nbhQueue) const " -->
void </td><td class="memItemRight" valign="bottom"><b>nearestRInternal</b> (const _T &data, double radius, NearQueue &nbhQueue) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aecd3edd31196f0840eb785e89f19a771"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::postprocessNearest" ref="aecd3edd31196f0840eb785e89f19a771" args="(NearQueue &nbhQueue, std::vector< _T > &nbh, unsigned int k=std::numeric_limits< unsigned int >::max()) const " -->
void </td><td class="memItemRight" valign="bottom"><b>postprocessNearest</b> (NearQueue &nbhQueue, std::vector< _T > &nbh, unsigned int k=std::numeric_limits< unsigned int >::max()) const </td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af71f11d8395bb7ab208df7cf03351aaa"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::tree_" ref="af71f11d8395bb7ab208df7cf03351aaa" args="" -->
<a class="el" href="classompl_1_1NearestNeighborsGNAT_1_1Node.html">Node</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#af71f11d8395bb7ab208df7cf03351aaa">tree_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The data elements stored in this structure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d705ed546c919cd52c428255a0c1a9f"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::degree_" ref="a9d705ed546c919cd52c428255a0c1a9f" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><b>degree_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0843613b6418efbb2b417c37789246c1"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::minDegree_" ref="a0843613b6418efbb2b417c37789246c1" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><b>minDegree_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a925bada72c7c7e7826acdc1581a0a920"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::maxDegree_" ref="a925bada72c7c7e7826acdc1581a0a920" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><b>maxDegree_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41c47b9f460e190bfadc2dc6f07cae3a"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::maxNumPtsPerLeaf_" ref="a41c47b9f460e190bfadc2dc6f07cae3a" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><b>maxNumPtsPerLeaf_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a40bd930123e198450f10736efe73a970"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::size_" ref="a40bd930123e198450f10736efe73a970" args="" -->
std::size_t </td><td class="memItemRight" valign="bottom"><b>size_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a79547bf4b75f57dcf2d736c11f612b1d"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::removedCacheSize_" ref="a79547bf4b75f57dcf2d736c11f612b1d" args="" -->
std::size_t </td><td class="memItemRight" valign="bottom"><b>removedCacheSize_</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a36b2e4bad87ded77f629a48425156bdc"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::pivotSelector_" ref="a36b2e4bad87ded77f629a48425156bdc" args="" -->
<a class="el" href="classompl_1_1GreedyKCenters.html">GreedyKCenters</a>< _T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a36b2e4bad87ded77f629a48425156bdc">pivotSelector_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The data structure used to split data into subtrees. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7abdda4ba9c30f81bb92ba136f5dba26"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::removed_" ref="a7abdda4ba9c30f81bb92ba136f5dba26" args="" -->
boost::unordered_set< const _T * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1NearestNeighborsGNAT.html#a7abdda4ba9c30f81bb92ba136f5dba26">removed_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cache of removed elements. <br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1e1b937c81eb1d184ffa588589bcc07f"></a><!-- doxytag: member="ompl::NearestNeighborsGNAT::operator<<" ref="a1e1b937c81eb1d184ffa588589bcc07f" args="(std::ostream &out, const NearestNeighborsGNAT< _T > &gnat)" -->
std::ostream & </td><td class="memItemRight" valign="bottom"><b>operator<<</b> (std::ostream &out, const <a class="el" href="classompl_1_1NearestNeighborsGNAT.html">NearestNeighborsGNAT</a>< _T > &gnat)</td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><h3>template<typename _T><br/>
class ompl::NearestNeighborsGNAT< _T ></h3>
<p>Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search. </p>
<p>See: S. Brin, “Near neighbor search in large metric spaces,” in Proc. 21st Conf. on Very Large Databases (VLDB), pp. 574–584, 1995. </p>
<p>Definition at line <a class="el" href="NearestNeighborsGNAT_8h_source.html#l00059">59</a> of file <a class="el" href="NearestNeighborsGNAT_8h_source.html">NearestNeighborsGNAT.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/datastructures/<a class="el" href="NearestNeighborsGNAT_8h_source.html">NearestNeighborsGNAT.h</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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