ompl::NearestNeighborsSqrtApprox< _T > Class Template Reference

A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped). More...

#include <NearestNeighborsSqrtApprox.h>

Inheritance diagram for ompl::NearestNeighborsSqrtApprox< _T >:

Public Member Functions
virtual void	clear (void)
	Clear the datastructure.
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.
Public Member Functions inherited from ompl::NearestNeighborsLinear< _T >
virtual void	nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const
	Return the k nearest neighbors in sorted order.
virtual void	nearestR (const _T &data, double radius, std::vector< _T > &nbh) const
	Return the nearest neighbors within distance radius in sorted order.
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.
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	updateCheckCount (void)
	The maximum number of checks to perform when searching for a nearest neighbor.

Protected Attributes
std::size_t	checks_
	The number of checks to be performed when looking for a nearest neighbor.
std::size_t	offset_
	The offset to start checking at (between 0 and checks_)
Protected Attributes inherited from ompl::NearestNeighborsLinear< _T >
std::vector< _T >	data_
	The data elements stored in this structure.
Protected Attributes inherited from ompl::NearestNeighbors< _T >
DistanceFunction	distFun_
	The used distance function.

Additional Inherited Members
Public Types inherited from ompl::NearestNeighbors< _T >
typedef boost::function < double(const _T &, const _T &)>	DistanceFunction
	The definition of a distance function.

Detailed Description

template<typename _T>
class ompl::NearestNeighborsSqrtApprox< _T >

A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped).

• Search for nearest neighbor is O(sqrt(n)).
• Search for k-nearest neighbors is O(n log(k)).
• Search for neighbors within a range is O(n log(n)).
• Adding an element to the datastructure is O(1).
• Removing an element from the datastructure O(n).

Definition at line 57 of file NearestNeighborsSqrtApprox.h.

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The documentation for this class was generated from the following file:

• src/ompl/datastructures/NearestNeighborsSqrtApprox.h