19 #ifndef HPP_CORE_NEAREST_NEIGHBOR_HH
20 # define HPP_CORE_NEAREST_NEIGHBOR_HH
23 # include <hpp/util/serialization-fwd.hh>
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:29
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 RoadmapPtr_t &roadmap, const std::size_t K, value_type &distance)=0
virtual void merge(ConnectedComponentPtr_t cc1, ConnectedComponentPtr_t cc2)=0
virtual ~NearestNeighbor()
Definition: nearest-neighbor.hh:93
virtual void addNode(const NodePtr_t &node)=0
virtual DistancePtr_t distance() const =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
virtual NodeVector_t withinBall(const Configuration_t &configuration, const ConnectedComponentPtr_t &cc, value_type maxDistance)=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 ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:165
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
Definition: bi-rrt-planner.hh:24