hpp-core
4.13.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_NEAREST_NEIGHBOR_HH
31 #define HPP_CORE_NEAREST_NEIGHBOR_HH
34 #include <hpp/util/serialization-fwd.hh>
41 virtual void clear() = 0;
104 #endif // HPP_CORE_NEAREST_NEIGHBOR_HH
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
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
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
virtual Nodes_t KnearestSearch(const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:170
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:130
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:171
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:116
virtual DistancePtr_t distance() const =0
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:188
Definition: bi-rrt-planner.hh:35
virtual void addNode(const NodePtr_t &node)=0
virtual NodeVector_t withinBall(const Configuration_t &configuration, const ConnectedComponentPtr_t &cc, value_type maxDistance)=0
virtual ~NearestNeighbor()
Definition: nearest-neighbor.hh:96
pinocchio::value_type value_type
Definition: fwd.hh:163
virtual void merge(ConnectedComponentPtr_t cc1, ConnectedComponentPtr_t cc2)=0