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| virtual void | clear ()=0 |
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| virtual void | addNode (const NodePtr_t &node)=0 |
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| virtual NodePtr_t | search (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &distance, bool reverse=false)=0 |
| | search Return the closest node of the given configuration
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| virtual NodePtr_t | search (const NodePtr_t &node, const ConnectedComponentPtr_t &connectedComponent, value_type &distance)=0 |
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| virtual Nodes_t | KnearestSearch (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0 |
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| virtual Nodes_t | KnearestSearch (const NodePtr_t &node, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0 |
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| virtual Nodes_t | KnearestSearch (ConfigurationIn_t configuration, const RoadmapPtr_t &roadmap, const std::size_t K, value_type &distance)=0 |
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| virtual NodeVector_t | withinBall (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &cc, value_type maxDistance)=0 |
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| virtual void | merge (ConnectedComponentPtr_t cc1, ConnectedComponentPtr_t cc2)=0 |
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| virtual DistancePtr_t | distance () const =0 |
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| virtual | ~NearestNeighbor () |
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Optimization of the nearest neighbor search.