Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search. More...

#include <NearestNeighborsGNAT.h>

Inheritance diagram for cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >:

Collaboration diagram for cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >:

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Classes
class	Node

Public Member Functions
	NearestNeighborsGNAT (unsigned int degree=8, unsigned int minDegree=4, unsigned int maxDegree=12, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=500, bool rebalancing=false)

	~NearestNeighborsGNAT () override

void	setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun) override

void	clear () override
	Clear the datastructure.

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

void	add (const _T &data) override
	Add an element to the datastructure.

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

void	rebuildDataStructure ()

bool	remove (const _T &data) override
	Remove an element from the datastructure.

_T	nearest (const _T &data) const override
	Get the nearest neighbor of a point.

void	nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const override
	Get the k-nearest neighbors of a point.

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

std::size_t	size () const override
	Get the number of elements in the datastructure.

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

void	integrityCheck ()

Public Member Functions inherited from cached_ik_kinematics_plugin::NearestNeighbors< _T >
	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.

Protected Types
using	GNAT = NearestNeighborsGNAT< _T >

Protected Member Functions
bool	isRemoved (const _T &data) const

bool	nearestKInternal (const _T &data, std::size_t k, NearQueue &nbhQueue) const

void	nearestRInternal (const _T &data, double radius, NearQueue &nbhQueue) const

void	postprocessNearest (NearQueue &nbhQueue, std::vector< _T > &nbh) const

Protected Attributes
Node *	tree_ { nullptr }

unsigned int	degree_

unsigned int	minDegree_

unsigned int	maxDegree_

unsigned int	maxNumPtsPerLeaf_

std::size_t	size_ { 0 }

std::size_t	rebuildSize_

std::size_t	removedCacheSize_

GreedyKCenters< _T >	pivotSelector_

std::unordered_set< const _T * >	removed_

Protected Attributes inherited from cached_ik_kinematics_plugin::NearestNeighbors< _T >
DistanceFunction	distFun_
	The used distance function.

Friends
std::ostream &	operator<< (std::ostream &out, const NearestNeighborsGNAT< _T > &gnat)

Additional Inherited Members
Public Types inherited from cached_ik_kinematics_plugin::NearestNeighbors< _T >
typedef std::function< double(const _T &, const _T &)>	DistanceFunction
	The definition of a distance function.

Detailed Description

template<typename _T>
class cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >

Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.

If GNAT_SAMPLER is defined, then extra code will be enabled to sample elements from the GNAT with probability inversely proportial to their local density.

External documentation: S. Brin, Near neighbor search in large metric spaces, in Proc. 21st Conf. on Very Large Databases (VLDB), pp. 574–584, 1995.

B. Gipson, M. Moll, and L.E. Kavraki, Resolution independent density estimation for motion planning in high-dimensional spaces, in IEEE Intl. Conf. on Robotics and Automation, 2013. [PDF]

Definition at line 70 of file NearestNeighborsGNAT.h.

Member Typedef Documentation

◆ GNAT

template<typename _T >

using cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::GNAT = NearestNeighborsGNAT<_T>

protected

Definition at line 314 of file NearestNeighborsGNAT.h.

Constructor & Destructor Documentation

◆ NearestNeighborsGNAT()

template<typename _T >

cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::NearestNeighborsGNAT	(	unsigned int	degree = `8`,
		unsigned int	minDegree = `4`,
		unsigned int	maxDegree = `12`,
		unsigned int	maxNumPtsPerLeaf = `50`,
		unsigned int	removedCacheSize = `500`,
		bool	rebalancing = `false`
	)

inline

Definition at line 101 of file NearestNeighborsGNAT.h.

◆ ~NearestNeighborsGNAT()

template<typename _T >

cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::~NearestNeighborsGNAT ( )

inlineoverride

Definition at line 114 of file NearestNeighborsGNAT.h.

Member Function Documentation

◆ add() [1/2]

template<typename _T >

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

inlineoverridevirtual

Add an element to the datastructure.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 146 of file NearestNeighborsGNAT.h.

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◆ add() [2/2]

template<typename _T >

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

inlineoverridevirtual

Add a vector of points.

Reimplemented from cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 160 of file NearestNeighborsGNAT.h.

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◆ clear()

template<typename _T >

void cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::clear ( )

inlineoverridevirtual

Clear the datastructure.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 128 of file NearestNeighborsGNAT.h.

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◆ integrityCheck()

template<typename _T >

void cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::integrityCheck ( )

inline

Definition at line 278 of file NearestNeighborsGNAT.h.

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◆ isRemoved()

template<typename _T >

bool cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::isRemoved ( const _T & data ) const

inlineprotected

Definition at line 317 of file NearestNeighborsGNAT.h.

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◆ list()

template<typename _T >

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

inlineoverridevirtual

Get all the elements in the datastructure.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 251 of file NearestNeighborsGNAT.h.

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◆ nearest()

template<typename _T >

_T cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::nearest ( const _T & data ) const

inlineoverridevirtual

Get the nearest neighbor of a point.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 208 of file NearestNeighborsGNAT.h.

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◆ nearestK()

template<typename _T >

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

inlineoverridevirtual

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.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 221 of file NearestNeighborsGNAT.h.

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◆ nearestKInternal()

template<typename _T >

bool cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::nearestKInternal	(	const _T &	data,
		std::size_t	k,
		NearQueue &	nbhQueue
	)		const

inlineprotected

Definition at line 326 of file NearestNeighborsGNAT.h.

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◆ nearestR()

template<typename _T >

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

inlineoverridevirtual

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.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 235 of file NearestNeighborsGNAT.h.

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◆ nearestRInternal()

template<typename _T >

void cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::nearestRInternal	(	const _T &	data,
		double	radius,
		NearQueue &	nbhQueue
	)		const

inlineprotected

Definition at line 349 of file NearestNeighborsGNAT.h.

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◆ postprocessNearest()

template<typename _T >

void cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::postprocessNearest	(	NearQueue &	nbhQueue,
		std::vector< _T > &	nbh
	)		const

inlineprotected

Definition at line 368 of file NearestNeighborsGNAT.h.

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◆ rebuildDataStructure()

template<typename _T >

void cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::rebuildDataStructure ( )

inline

Definition at line 177 of file NearestNeighborsGNAT.h.

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◆ remove()

template<typename _T >

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

inlineoverridevirtual

Remove an element from the datastructure.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 189 of file NearestNeighborsGNAT.h.

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◆ reportsSortedResults()

template<typename _T >

bool cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::reportsSortedResults ( ) const

inlineoverridevirtual

Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 141 of file NearestNeighborsGNAT.h.

◆ setDistanceFunction()

template<typename _T >

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

inlineoverride

Definition at line 120 of file NearestNeighborsGNAT.h.

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◆ size()

template<typename _T >

std::size_t cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::size ( ) const

inlineoverridevirtual

Get the number of elements in the datastructure.

Implements cached_ik_kinematics_plugin::NearestNeighbors< _T >.

Definition at line 246 of file NearestNeighborsGNAT.h.

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Friends And Related Symbol Documentation

◆ operator<<

template<typename _T >

std::ostream & operator<<	(	std::ostream &	out,
		const NearestNeighborsGNAT< _T > &	gnat
	)

friend

Definition at line 260 of file NearestNeighborsGNAT.h.

Member Data Documentation

◆ degree_

template<typename _T >

unsigned int cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::degree_

protected

Definition at line 727 of file NearestNeighborsGNAT.h.

◆ maxDegree_

template<typename _T >

unsigned int cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::maxDegree_

protected

Definition at line 737 of file NearestNeighborsGNAT.h.

◆ maxNumPtsPerLeaf_

template<typename _T >

unsigned int cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::maxNumPtsPerLeaf_

protected

Definition at line 740 of file NearestNeighborsGNAT.h.

◆ minDegree_

template<typename _T >

unsigned int cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::minDegree_

protected

Definition at line 732 of file NearestNeighborsGNAT.h.

◆ pivotSelector_

template<typename _T >

GreedyKCenters<_T> cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::pivotSelector_

protected

Definition at line 751 of file NearestNeighborsGNAT.h.

◆ rebuildSize_

template<typename _T >

std::size_t cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::rebuildSize_

protected

Definition at line 745 of file NearestNeighborsGNAT.h.

◆ removed_

template<typename _T >

std::unordered_set<const _T*> cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::removed_

protected

Definition at line 753 of file NearestNeighborsGNAT.h.

◆ removedCacheSize_

template<typename _T >

std::size_t cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::removedCacheSize_

protected

Definition at line 749 of file NearestNeighborsGNAT.h.

◆ size_

template<typename _T >

std::size_t cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::size_ { 0 }

protected

Definition at line 742 of file NearestNeighborsGNAT.h.

◆ tree_

template<typename _T >

Node* cached_ik_kinematics_plugin::NearestNeighborsGNAT< _T >::tree_ { nullptr }

protected

Definition at line 725 of file NearestNeighborsGNAT.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/NearestNeighborsGNAT.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GNAT

Constructor & Destructor Documentation

◆ NearestNeighborsGNAT()

◆ ~NearestNeighborsGNAT()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ clear()

◆ integrityCheck()

◆ isRemoved()

◆ list()

◆ nearest()

◆ nearestK()

◆ nearestKInternal()

◆ nearestR()

◆ nearestRInternal()

◆ postprocessNearest()

◆ rebuildDataStructure()

◆ remove()

◆ reportsSortedResults()

◆ setDistanceFunction()

◆ size()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ degree_

◆ maxDegree_

◆ maxNumPtsPerLeaf_

◆ minDegree_

◆ pivotSelector_

◆ rebuildSize_

◆ removed_

◆ removedCacheSize_

◆ size_

◆ tree_