ompl::NearestNeighborsSqrtApprox< _T > Class Template Reference

A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped). More...

#include <NearestNeighborsSqrtApprox.h>

Inheritance diagram for ompl::NearestNeighborsSqrtApprox< _T >:

List of all members.

Public Member Functions
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.
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.
Protected Member Functions
void	updateCheckCount (void)
Protected Attributes
std::size_t	checks_
	The number of checks to be performed when looking for a nearest neighbor.
std::size_t	offset_
	The offset to start checking at (between 0 and checks_)

---

Detailed Description

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

A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped).

• Search for nearest neighbor is O(sqrt(n)).
• Search for k-nearest neighbors is O(n log(k)).
• Search for neighbors within a range is O(n log(n)).
• Adding an element to the datastructure is O(1).
• Removing an element from the datastructure O(n).

Definition at line 57 of file NearestNeighborsSqrtApprox.h.

---

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

• src/ompl/datastructures/NearestNeighborsSqrtApprox.h