moveit2
The MoveIt Motion Planning Framework for ROS 2.
NearestNeighbors.h
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34 
35 /* Author: Ioan Sucan */
36 
37 // This file is a slightly modified version of <ompl/datastructures/NearestNeighbors.h>
38 
39 #pragma once
40 
41 #include <functional>
42 #include <vector>
43 
45 {
47 template <typename _T>
49 {
50 public:
52  typedef std::function<double(const _T&, const _T&)> DistanceFunction;
53 
54  NearestNeighbors() = default;
58  NearestNeighbors& operator=(NearestNeighbors&&) noexcept = default;
59  virtual ~NearestNeighbors() = default;
60 
62  virtual void setDistanceFunction(const DistanceFunction& distFun)
63  {
64  distFun_ = distFun;
65  }
66 
69  {
70  return distFun_;
71  }
72 
75  virtual bool reportsSortedResults() const = 0;
76 
78  virtual void clear() = 0;
79 
81  virtual void add(const _T& data) = 0;
82 
84  virtual void add(const std::vector<_T>& data)
85  {
86  for (auto elt = data.begin(); elt != data.end(); ++elt)
87  add(*elt);
88  }
89 
91  virtual bool remove(const _T& data) = 0;
92 
94  virtual _T nearest(const _T& data) const = 0;
95 
101  virtual void nearestK(const _T& data, std::size_t k, std::vector<_T>& nbh) const = 0;
102 
108  virtual void nearestR(const _T& data, double radius, std::vector<_T>& nbh) const = 0;
109 
111  virtual std::size_t size() const = 0;
112 
114  virtual void list(std::vector<_T>& data) const = 0;
115 
116 protected:
119 };
120 } // namespace cached_ik_kinematics_plugin
Abstract representation of a container that can perform nearest neighbors queries.
const DistanceFunction & getDistanceFunction() const
Get the distance function used.
NearestNeighbors(NearestNeighbors &&) noexcept=default
virtual void nearestK(const _T &data, std::size_t k, std::vector< _T > &nbh) const =0
Get the k-nearest neighbors of a point.
virtual _T nearest(const _T &data) const =0
Get the nearest neighbor of a point.
virtual void add(const std::vector< _T > &data)
Add a vector of points.
virtual void add(const _T &data)=0
Add an element to the datastructure.
std::function< double(const _T &, const _T &)> DistanceFunction
The definition of a distance function.
virtual bool reportsSortedResults() const =0
Return true if the solutions reported by this data structure are sorted, when calling nearestK / near...
virtual void setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
virtual void list(std::vector< _T > &data) const =0
Get all the elements in the datastructure.
virtual void nearestR(const _T &data, double radius, std::vector< _T > &nbh) const =0
Get the nearest neighbors of a point, within a specified radius.
DistanceFunction distFun_
The used distance function.
virtual std::size_t size() const =0
Get the number of elements in the datastructure.
NearestNeighbors(const NearestNeighbors &)=default
virtual bool remove(const _T &data)=0
Remove an element from the datastructure.
virtual void clear()=0
Clear the datastructure.