Public Member Functions | List of all members
hpp::core::NearestNeighbor Class Referenceabstract

Optimization of the nearest neighbor search. More...

#include <hpp/core/nearest-neighbor.hh>

Public Member Functions

virtual void clear ()=0
 
virtual void addNode (const NodePtr_t &node)=0
 
virtual NodePtr_t search (const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &distance, bool reverse=false)=0
 search Return the closest node of the given configuration More...
 
virtual NodePtr_t search (const NodePtr_t &node, const ConnectedComponentPtr_t &connectedComponent, value_type &distance)=0
 
virtual Nodes_t KnearestSearch (const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0
 
virtual Nodes_t KnearestSearch (const NodePtr_t &node, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0
 
virtual Nodes_t KnearestSearch (const Configuration_t &configuration, const RoadmapPtr_t &roadmap, const std::size_t K, value_type &distance)=0
 Return the K nearest nodes in the whole roadmap. More...
 
virtual void merge (ConnectedComponentPtr_t cc1, ConnectedComponentPtr_t cc2)=0
 
virtual DistancePtr_t distance () const =0
 
virtual ~NearestNeighbor ()
 

Detailed Description

Optimization of the nearest neighbor search.

Constructor & Destructor Documentation

◆ ~NearestNeighbor()

virtual hpp::core::NearestNeighbor::~NearestNeighbor ( )
inlinevirtual

Member Function Documentation

◆ addNode()

virtual void hpp::core::NearestNeighbor::addNode ( const NodePtr_t &  node)
pure virtual

◆ clear()

virtual void hpp::core::NearestNeighbor::clear ( )
pure virtual

◆ distance()

virtual DistancePtr_t hpp::core::NearestNeighbor::distance ( ) const
pure virtual

◆ KnearestSearch() [1/3]

virtual Nodes_t hpp::core::NearestNeighbor::KnearestSearch ( const Configuration_t &  configuration,
const ConnectedComponentPtr_t &  connectedComponent,
const std::size_t  K,
value_type &  distance 
)
pure virtual
Parameters
[out]distanceto the Kth closest neighbor
Returns
the K nearest neighbors

◆ KnearestSearch() [2/3]

virtual Nodes_t hpp::core::NearestNeighbor::KnearestSearch ( const NodePtr_t &  node,
const ConnectedComponentPtr_t &  connectedComponent,
const std::size_t  K,
value_type &  distance 
)
pure virtual
Parameters
[out]distanceto the Kth closest neighbor
Returns
the K nearest neighbors

◆ KnearestSearch() [3/3]

virtual Nodes_t hpp::core::NearestNeighbor::KnearestSearch ( const Configuration_t &  configuration,
const RoadmapPtr_t &  roadmap,
const std::size_t  K,
value_type &  distance 
)
pure virtual

Return the K nearest nodes in the whole roadmap.

Parameters
configuration,theconfiguration to which distance is computed,
Kthe number of nearest neighbors to return
Return values
distanceto the Kth closest neighbor
Returns
the K nearest neighbors

◆ merge()

virtual void hpp::core::NearestNeighbor::merge ( ConnectedComponentPtr_t  cc1,
ConnectedComponentPtr_t  cc2 
)
pure virtual

◆ search() [1/2]

virtual NodePtr_t hpp::core::NearestNeighbor::search ( const Configuration_t &  configuration,
const ConnectedComponentPtr_t &  connectedComponent,
value_type &  distance,
bool  reverse = false 
)
pure virtual

search Return the closest node of the given configuration

Parameters
configuration
connectedComponent
distance
reverseif true, compute distance from given configuration to nodes in roadmap, if false from nodes in roadmap to given configuration
Returns

◆ search() [2/2]

virtual NodePtr_t hpp::core::NearestNeighbor::search ( const NodePtr_t &  node,
const ConnectedComponentPtr_t &  connectedComponent,
value_type &  distance 
)
pure virtual