fcl::NearestNeighbors< _T > Class Template Reference

Abstract representation of a container that can perform nearest neighbors queries. More...

#include <hpp/fcl/knn/nearest_neighbors.h>

Inheritance diagram for fcl::NearestNeighbors< _T >:

Public Types
typedef boost::function < double(const _T &, const _T &)>	DistanceFunction
	The definition of a distance function. More...

Public Member Functions
	NearestNeighbors (void)
virtual	~NearestNeighbors (void)
virtual void	setDistanceFunction (const DistanceFunction &distFun)
	Set the distance function to use. More...
const DistanceFunction &	getDistanceFunction (void) const
	Get the distance function used. More...
virtual void	clear (void)=0
	Clear the datastructure. More...
virtual void	add (const _T &data)=0
	Add an element to the datastructure. More...
virtual void	add (const std::vector< _T > &data)
	Add a vector of points. More...
virtual bool	remove (const _T &data)=0
	Remove an element from the datastructure. More...
virtual _T	nearest (const _T &data) const =0
	Get the nearest neighbor of a point. More...
virtual void	nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const =0
	Get the k-nearest neighbors of a point. More...
virtual void	nearestR (const _T &data, double radius, std::vector< _T > &nbh) const =0
	Get the nearest neighbors of a point, within a specified radius. More...
virtual std::size_t	size (void) const =0
	Get the number of elements in the datastructure. More...
virtual void	list (std::vector< _T > &data) const =0
	Get all the elements in the datastructure. More...

Protected Attributes
DistanceFunction	distFun_
	The used distance function. More...

Detailed Description

template<typename _T>
class fcl::NearestNeighbors< _T >

Abstract representation of a container that can perform nearest neighbors queries.

Member Typedef Documentation

template<typename _T>

typedef boost::function<double(const _T&, const _T&)> fcl::NearestNeighbors< _T >::DistanceFunction

The definition of a distance function.

Constructor & Destructor Documentation

template<typename _T>

fcl::NearestNeighbors< _T >::NearestNeighbors ( void  )

inline

template<typename _T>

virtual fcl::NearestNeighbors< _T >::~NearestNeighbors ( void  )

inlinevirtual

Member Function Documentation

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::add ( const _T &  data )

pure virtual

Add an element to the datastructure.

Implemented in fcl::NearestNeighborsGNAT< _T >, fcl::NearestNeighborsSqrtApprox< _T >, and fcl::NearestNeighborsLinear< _T >.

Referenced by fcl::NearestNeighbors< fcl::Transform3f >::add(), and fcl::NearestNeighborsGNAT< _T >::add().

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::add ( const std::vector< _T > &  data )

inlinevirtual

Add a vector of points.

Reimplemented in fcl::NearestNeighborsGNAT< _T >, fcl::NearestNeighborsSqrtApprox< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::clear ( void  )

pure virtual

Clear the datastructure.

Implemented in fcl::NearestNeighborsGNAT< _T >, fcl::NearestNeighborsSqrtApprox< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

const DistanceFunction& fcl::NearestNeighbors< _T >::getDistanceFunction ( void  ) const

inline

Get the distance function used.

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::list ( std::vector< _T > &  data ) const

pure virtual

Get all the elements in the datastructure.

Implemented in fcl::NearestNeighborsGNAT< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual _T fcl::NearestNeighbors< _T >::nearest ( const _T &  data ) const

pure virtual

Get the nearest neighbor of a point.

Implemented in fcl::NearestNeighborsGNAT< _T >, fcl::NearestNeighborsSqrtApprox< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::nearestK ( const _T &  data, std::size_t  k, std::vector< _T > &  nbh  ) const

pure virtual

Get the k-nearest neighbors of a point.

Implemented in fcl::NearestNeighborsGNAT< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::nearestR ( const _T &  data, double  radius, std::vector< _T > &  nbh  ) const

pure virtual

Get the nearest neighbors of a point, within a specified radius.

Implemented in fcl::NearestNeighborsGNAT< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual bool fcl::NearestNeighbors< _T >::remove ( const _T &  data )

pure virtual

Remove an element from the datastructure.

Implemented in fcl::NearestNeighborsGNAT< _T >, fcl::NearestNeighborsSqrtApprox< _T >, and fcl::NearestNeighborsLinear< _T >.

template<typename _T>

virtual void fcl::NearestNeighbors< _T >::setDistanceFunction ( const DistanceFunction &  distFun )

inlinevirtual

Set the distance function to use.

Referenced by fcl::NearestNeighborsGNAT< _T >::setDistanceFunction().

template<typename _T>

virtual std::size_t fcl::NearestNeighbors< _T >::size ( void  ) const

pure virtual

Get the number of elements in the datastructure.

Implemented in fcl::NearestNeighborsGNAT< _T >, and fcl::NearestNeighborsLinear< _T >.

Member Data Documentation

template<typename _T>

DistanceFunction fcl::NearestNeighbors< _T >::distFun_

protected

The used distance function.

Referenced by fcl::NearestNeighborsGNAT< _T >::Node::add(), fcl::NearestNeighbors< fcl::Transform3f >::getDistanceFunction(), fcl::NearestNeighborsLinear< _T >::nearest(), fcl::NearestNeighborsSqrtApprox< _T >::nearest(), fcl::NearestNeighborsGNAT< _T >::Node::nearestK(), fcl::NearestNeighborsGNAT< _T >::Node::nearestR(), and fcl::NearestNeighbors< fcl::Transform3f >::setDistanceFunction().