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NearestNeighbors.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
38 #define OMPL_DATASTRUCTURES_NEAREST_NEIGHBORS_
39 
40 #include <vector>
41 #include <boost/bind.hpp>
42 #include <boost/function.hpp>
43 #include <ompl/base/StateSpace.h>
44 
45 namespace ompl
46 {
47 
49  template<typename _T>
51  {
52  public:
53 
55  typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
56 
57  NearestNeighbors(void)
58  {
59  }
60 
61  virtual ~NearestNeighbors(void)
62  {
63  }
64 
66  virtual void setDistanceFunction(const DistanceFunction &distFun)
67  {
68  distFun_ = distFun;
69  }
70 
73  {
74  return distFun_;
75  }
76 
78  virtual void clear(void) = 0;
79 
81  virtual void add(const _T &data) = 0;
82 
84  virtual void add(const std::vector<_T> &data)
85  {
86  for (typename std::vector<_T>::const_iterator 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 
97  virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
98 
100  virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
101 
103  virtual std::size_t size(void) const = 0;
104 
106  virtual void list(std::vector<_T> &data) const = 0;
107 
108  protected:
109 
112 
113  };
114 }
115 
116 #endif