hpp-core
5.1.0
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
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
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
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
virtual DistancePtr_t distance() const =0
virtual Nodes_t KnearestSearch(ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, const std::size_t K, value_type &distance)=0
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
Definition: bi-rrt-planner.hh:35
virtual void addNode(const NodePtr_t &node)=0
virtual NodeVector_t withinBall(ConfigurationIn_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:174
virtual void merge(ConnectedComponentPtr_t cc1, ConnectedComponentPtr_t cc2)=0