Abstract representation of a container that can perform nearest neighbors queries. More...

#include <NearestNeighbors.h>

Inheritance diagram for cached_ik_kinematics_plugin::NearestNeighbors< _T >:

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Public Types
typedef std::function< double(const _T &, const _T &)>	DistanceFunction
	The definition of a distance function.

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.

const DistanceFunction &	getDistanceFunction () const
	Get the distance function used.

virtual bool	reportsSortedResults () const =0
	Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.

virtual void	clear ()=0
	Clear the datastructure.

virtual void	add (const _T &data)=0
	Add an element to the datastructure.

virtual void	add (const std::vector< _T > &data)
	Add a vector of points.

virtual bool	remove (const _T &data)=0
	Remove an element from the datastructure.

virtual _T	nearest (const _T &data) const =0
	Get the nearest neighbor of a point.

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 void	nearestR (const _T &data, double radius, std::vector< _T > &nbh) const =0
	Get the nearest neighbors of a point, within a specified radius.

virtual std::size_t	size () const =0
	Get the number of elements in the datastructure.

virtual void	list (std::vector< _T > &data) const =0
	Get all the elements in the datastructure.

Protected Attributes
DistanceFunction	distFun_
	The used distance function.

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

template<typename _T >

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]

template<typename _T >

cached_ik_kinematics_plugin::NearestNeighbors< _T >::NearestNeighbors ( )

default

◆ NearestNeighbors() [2/3]

template<typename _T >

cached_ik_kinematics_plugin::NearestNeighbors< _T >::NearestNeighbors ( const NearestNeighbors< _T > & )

default

◆ NearestNeighbors() [3/3]

template<typename _T >

cached_ik_kinematics_plugin::NearestNeighbors< _T >::NearestNeighbors ( NearestNeighbors< _T > && )

defaultnoexcept

◆ ~NearestNeighbors()

template<typename _T >

virtual cached_ik_kinematics_plugin::NearestNeighbors< _T >::~NearestNeighbors ( )

virtualdefault

Member Function Documentation

◆ add() [1/2]

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::add ( const _T & data )

pure virtual

Add an element to the datastructure.

Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.

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◆ add() [2/2]

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::add ( const std::vector< _T > & data )

inlinevirtual

Add a vector of points.

Reimplemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.

Definition at line 84 of file NearestNeighbors.h.

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◆ clear()

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::clear ( )

pure virtual

Clear the datastructure.

Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >, and cached_ik_kinematics_plugin::NearestNeighborsGNAT< IKEntry * >.

◆ getDistanceFunction()

template<typename _T >

const DistanceFunction & cached_ik_kinematics_plugin::NearestNeighbors< _T >::getDistanceFunction ( ) const

inline

Get the distance function used.

Definition at line 68 of file NearestNeighbors.h.

◆ list()

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::list ( std::vector< _T > & data ) const

pure virtual

Get all the elements in the datastructure.

Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.

◆ nearest()

template<typename _T >

virtual _T cached_ik_kinematics_plugin::NearestNeighbors< _T >::nearest ( const _T & data ) const

pure virtual

Get the nearest neighbor of a point.

Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.

◆ nearestK()

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::nearestK	(	const _T &	data,
		std::size_t	k,
		std::vector< _T > &	nbh
	)		const

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< _T >.

◆ nearestR()

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::nearestR	(	const _T &	data,
		double	radius,
		std::vector< _T > &	nbh
	)		const

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< _T >.

◆ operator=() [1/2]

template<typename _T >

NearestNeighbors & cached_ik_kinematics_plugin::NearestNeighbors< _T >::operator= ( const NearestNeighbors< _T > & )

default

◆ operator=() [2/2]

template<typename _T >

NearestNeighbors & cached_ik_kinematics_plugin::NearestNeighbors< _T >::operator= ( NearestNeighbors< _T > && )

defaultnoexcept

◆ remove()

template<typename _T >

virtual bool cached_ik_kinematics_plugin::NearestNeighbors< _T >::remove ( const _T & data )

pure virtual

Remove an element from the datastructure.

Implemented in cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >.

◆ reportsSortedResults()

template<typename _T >

virtual bool cached_ik_kinematics_plugin::NearestNeighbors< _T >::reportsSortedResults ( ) const

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()

template<typename _T >

virtual void cached_ik_kinematics_plugin::NearestNeighbors< _T >::setDistanceFunction ( const DistanceFunction & distFun )

inlinevirtual

Set the distance function to use.

Definition at line 62 of file NearestNeighbors.h.

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◆ size()

template<typename _T >

virtual std::size_t cached_ik_kinematics_plugin::NearestNeighbors< _T >::size ( ) const

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_

template<typename _T >

DistanceFunction cached_ik_kinematics_plugin::NearestNeighbors< _T >::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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DistanceFunction

Constructor & Destructor Documentation

◆ NearestNeighbors() [1/3]

◆ NearestNeighbors() [2/3]

◆ NearestNeighbors() [3/3]

◆ ~NearestNeighbors()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ clear()

◆ getDistanceFunction()

◆ list()

◆ nearest()

◆ nearestK()

◆ nearestR()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ remove()

◆ reportsSortedResults()

◆ setDistanceFunction()

◆ size()

Member Data Documentation

◆ distFun_