Abstract representation of a container that can perform nearest neighbors queries. More...
#include <NearestNeighbors.h>
Public Types | |
| typedef std::function< double(const _T &, const _T &)> | DistanceFunction |
| The definition of a distance function. More... | |
Public Member Functions | |
| NearestNeighbors ()=default | |
| NearestNeighbors (const NearestNeighbors &)=default | |
| NearestNeighbors (NearestNeighbors &&) noexcept=default | |
| NearestNeighbors & | operator= (const NearestNeighbors &)=default |
| NearestNeighbors & | operator= (NearestNeighbors &&) noexcept=default |
| virtual | ~NearestNeighbors ()=default |
| virtual void | setDistanceFunction (const DistanceFunction &distFun) |
| Set the distance function to use. More... | |
| const DistanceFunction & | getDistanceFunction () const |
| Get the distance function used. More... | |
| virtual bool | reportsSortedResults () const =0 |
| Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR. More... | |
| virtual void | clear ()=0 |
| Clear the datastructure. More... | |
| virtual void | add (const _T &data)=0 |
| Add an element to the datastructure. More... | |
| virtual void | add (const std::vector< _T > &data) |
| Add a vector of points. More... | |
| virtual bool | remove (const _T &data)=0 |
| Remove an element from the datastructure. More... | |
| virtual _T | nearest (const _T &data) const =0 |
| Get the nearest neighbor of a point. More... | |
| virtual void | nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const =0 |
| Get the k-nearest neighbors of a point. More... | |
| 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. More... | |
| virtual std::size_t | size () const =0 |
| Get the number of elements in the datastructure. More... | |
| virtual void | list (std::vector< _T > &data) const =0 |
| Get all the elements in the datastructure. More... | |
Protected Attributes | |
| DistanceFunction | distFun_ |
| The used distance function. More... | |
Detailed Description
template<typename _T>
class cached_ik_kinematics_plugin::NearestNeighbors< _T >
Abstract representation of a container that can perform nearest neighbors queries.
Definition at line 48 of file NearestNeighbors.h.
Member Typedef Documentation
◆ DistanceFunction
| typedef std::function<double(const _T&, const _T&)> cached_ik_kinematics_plugin::NearestNeighbors< _T >::DistanceFunction |
The definition of a distance function.
Definition at line 52 of file NearestNeighbors.h.
Constructor & Destructor Documentation
◆ NearestNeighbors() [1/3]
|
default |
◆ NearestNeighbors() [2/3]
|
default |
◆ NearestNeighbors() [3/3]
|
defaultnoexcept |
◆ ~NearestNeighbors()
|
virtualdefault |
Member Function Documentation
◆ add() [1/2]
|
pure virtual |
Add an element to the datastructure.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ add() [2/2]
|
inlinevirtual |
Add a vector of points.
Reimplemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
Definition at line 84 of file NearestNeighbors.h.
◆ clear()
|
pure virtual |
Clear the datastructure.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >.
◆ getDistanceFunction()
|
inline |
Get the distance function used.
Definition at line 68 of file NearestNeighbors.h.
◆ list()
|
pure virtual |
Get all the elements in the datastructure.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ nearest()
|
pure virtual |
Get the nearest neighbor of a point.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ nearestK()
|
pure virtual |
Get the k-nearest neighbors of a point.
All the nearest neighbor structures currently return the neighbors in sorted order, but this is not required.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ nearestR()
|
pure virtual |
Get the nearest neighbors of a point, within a specified radius.
All the nearest neighbor structures currently return the neighbors in sorted order, but this is not required.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ operator=() [1/2]
|
default |
◆ operator=() [2/2]
|
defaultnoexcept |
◆ remove()
|
pure virtual |
Remove an element from the datastructure.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.
◆ reportsSortedResults()
|
pure virtual |
Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >.
◆ setDistanceFunction()
|
inlinevirtual |
Set the distance function to use.
Definition at line 62 of file NearestNeighbors.h.
◆ size()
|
pure virtual |
Get the number of elements in the datastructure.
Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >.
Member Data Documentation
◆ distFun_
|
protected |
The used distance function.
Definition at line 118 of file NearestNeighbors.h.
The documentation for this class was generated from the following file:
- moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h
