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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 
44 namespace ompl
45 {
46 
48  template<typename _T>
50  {
51  public:
52 
54  typedef boost::function<double(const _T&, const _T&)> DistanceFunction;
55 
56  NearestNeighbors(void)
57  {
58  }
59 
60  virtual ~NearestNeighbors(void)
61  {
62  }
63 
65  virtual void setDistanceFunction(const DistanceFunction &distFun)
66  {
67  distFun_ = distFun;
68  }
69 
72  {
73  return distFun_;
74  }
75 
77  virtual void clear(void) = 0;
78 
80  virtual void add(const _T &data) = 0;
81 
83  virtual void add(const std::vector<_T> &data)
84  {
85  for (typename std::vector<_T>::const_iterator elt = data.begin() ; elt != data.end() ; ++elt)
86  add(*elt);
87  }
88 
90  virtual bool remove(const _T &data) = 0;
91 
93  virtual _T nearest(const _T &data) const = 0;
94 
96  virtual void nearestK(const _T &data, std::size_t k, std::vector<_T> &nbh) const = 0;
97 
99  virtual void nearestR(const _T &data, double radius, std::vector<_T> &nbh) const = 0;
100 
102  virtual std::size_t size(void) const = 0;
103 
105  virtual void list(std::vector<_T> &data) const = 0;
106 
107  protected:
108 
111 
112  };
113 }
114 
115 #endif