ompl::NearestNeighborsGNAT< _T > Class Template Reference

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

#include <NearestNeighborsGNAT.h>

Inheritance diagram for ompl::NearestNeighborsGNAT< _T >:

List of all members.

Classes
struct	DataDistCompare
class	Node
struct	NodeDistCompare
Public Member Functions
	NearestNeighborsGNAT (unsigned int degree=4, unsigned int minDegree=2, unsigned int maxDegree=6, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=50)
virtual void	setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun)
	Set the distance function to use.
virtual void	clear (void)
	Clear the datastructure.
virtual void	add (const _T &data)
	Add an element to the datastructure.
virtual void	add (const std::vector< _T > &data)
	Add a vector of points.
void	rebuildDataStructure ()
	Rebuild the internal data structure.
virtual bool	remove (const _T &data)
	Remove an element from the datastructure.
virtual _T	nearest (const _T &data) const
	Get the nearest neighbor of a point.
virtual void	nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const
	Get the k-nearest neighbors of a point.
virtual void	nearestR (const _T &data, double radius, std::vector< _T > &nbh) const
	Get the nearest neighbors of a point, within a specified radius.
virtual std::size_t	size (void) const
	Get the number of elements in the datastructure.
virtual void	list (std::vector< _T > &data) const
	Get all the elements in the datastructure.
void	integrityCheck ()
Protected Types
typedef std::pair< const _T *, double >	DataDist
typedef std::priority_queue < DataDist, std::vector < DataDist >, DataDistCompare >	NearQueue
typedef std::pair< Node *, double >	NodeDist
typedef std::priority_queue < NodeDist, std::vector < NodeDist >, NodeDistCompare >	NodeQueue
typedef NearestNeighborsGNAT< _T >	GNAT
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, unsigned int k=std::numeric_limits< unsigned int >::max()) const
Protected Attributes
Node *	tree_
	The data elements stored in this structure.
unsigned int	degree_
unsigned int	minDegree_
unsigned int	maxDegree_
unsigned int	maxNumPtsPerLeaf_
std::size_t	size_
std::size_t	removedCacheSize_
GreedyKCenters< _T >	pivotSelector_
	The data structure used to split data into subtrees.
boost::unordered_set< const _T * >	removed_
	Cache of removed elements.
Friends
std::ostream &	operator<< (std::ostream &out, const NearestNeighborsGNAT< _T > &gnat)

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Detailed Description

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

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

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

Definition at line 59 of file NearestNeighborsGNAT.h.

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The documentation for this class was generated from the following file:

• src/ompl/datastructures/NearestNeighborsGNAT.h