30 #ifndef HPP_CORE_NEAREST_NEIGHBOR_HH
31 #define HPP_CORE_NEAREST_NEIGHBOR_HH
34 #include <hpp/util/serialization-fwd.hh>
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
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:96
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:173
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:140
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:181
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:180
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:116
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
Definition: bi-rrt-planner.hh:35