Wrapper class for nearest neighbor data structures in the FLANN library. More...
#include <NearestNeighborsFLANN.h>
Public Member Functions | |
| NearestNeighborsFLANN (const boost::shared_ptr< flann::IndexParams > ¶ms) | |
| virtual void | clear (void) |
| Clear the datastructure. | |
| virtual void | setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun) |
| virtual void | add (const _T &data) |
| Add an element to the datastructure. | |
| virtual void | add (const std::vector< _T > &data) |
| Add a vector of points. | |
| virtual bool | remove (const _T &data) |
| Remove an element from the datastructure. | |
| virtual _T | nearest (const _T &data) const |
| Get the nearest neighbor of a point. | |
| virtual void | nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const |
| Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default) | |
| virtual void | nearestR (const _T &data, double radius, std::vector< _T > &nbh) const |
Return the nearest neighbors within distance radius in sorted order if searchParams_.sorted==true (the default) | |
| virtual std::size_t | size (void) const |
| Get the number of elements in the datastructure. | |
| virtual void | list (std::vector< _T > &data) const |
| Get all the elements in the datastructure. | |
| virtual void | setIndexParams (const boost::shared_ptr< flann::IndexParams > ¶ms) |
| Set the FLANN index parameters. More... | |
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virtual const boost::shared_ptr < flann::IndexParams > & | getIndexParams (void) const |
| Get the FLANN parameters used to build the current index. | |
| virtual void | setSearchParams (const flann::SearchParams &searchParams) |
| Set the FLANN parameters to be used during nearest neighbor searches. | |
| flann::SearchParams & | getSearchParams (void) |
| Get the FLANN parameters used during nearest neighbor searches. | |
| const flann::SearchParams & | getSearchParams (void) const |
| Get the FLANN parameters used during nearest neighbor searches. | |
| unsigned int | getContainerSize (void) const |
 Public Member Functions inherited from ompl::NearestNeighbors< _T > | |
| virtual void | setDistanceFunction (const DistanceFunction &distFun) |
| Set the distance function to use. | |
| const DistanceFunction & | getDistanceFunction (void) const |
| Get the distance function used. | |
Protected Member Functions | |
| void | createIndex (const flann::Matrix< _T > &mat) |
| Internal function to construct nearest neighbor data structure with initial elements stored in mat. | |
| void | rebuildIndex (unsigned int capacity=0) |
| Rebuild the nearest neighbor data structure (necessary when changing the distance function or index parameters). | |
| template<> | |
| void | createIndex (const flann::Matrix< double > &mat) |
Protected Attributes | |
| std::vector< _T > | data_ |
| vector of data stored in FLANN's index. FLANN only indexes references, so we need store the original data. | |
| flann::Index< _Dist > * | index_ |
| The FLANN index (the actual index type depends on params_). | |
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boost::shared_ptr < flann::IndexParams > | params_ |
| The FLANN index parameters. This contains both the type of index and the parameters for that type. | |
| flann::SearchParams | searchParams_ |
| The parameters used to seach for nearest neighbors. | |
| unsigned int | dimension_ |
| If each element has an array-like structure that is exposed to FLANN, then the dimension_ needs to be set to the length of this array. | |
| Protected Attributes inherited from ompl::NearestNeighbors< _T > | |
| DistanceFunction | distFun_ |
| The used distance function. | |
Additional Inherited Members | |
| Public Types inherited from ompl::NearestNeighbors< _T > | |
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typedef boost::function < double(const _T &, const _T &)> | DistanceFunction |
| The definition of a distance function. | |
Wrapper class for nearest neighbor data structures in the FLANN library.
See: M. Muja and D.G. Lowe, "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration", in International Conference on Computer Vision Theory and Applications (VISAPP'09), 2009. http://people.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN
Definition at line 87 of file NearestNeighborsFLANN.h.
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inlinevirtual |
Set the FLANN index parameters.
The parameters determine the type of nearest neighbor data structure to be constructed.
Definition at line 235 of file NearestNeighborsFLANN.h.
