Wrapper class for nearest neighbor data structures in the FLANN library. More...
#include <ompl/datastructures/NearestNeighborsFLANN.h>

Public Member Functions | |
NearestNeighborsFLANN (std::shared_ptr< flann::IndexParams > params) | |
void | clear () override |
Clear the datastructure. | |
bool | reportsSortedResults () const override |
Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR. | |
void | setDistanceFunction (const typename NearestNeighbors< _T >::DistanceFunction &distFun) override |
void | add (const _T &data) override |
Add an element to the datastructure. | |
void | add (const std::vector< _T > &data) override |
Add a vector of points. | |
bool | remove (const _T &data) override |
Remove an element from the datastructure. | |
_T | nearest (const _T &data) const override |
Get the nearest neighbor of a point. | |
void | nearestK (const _T &data, std::size_t k, std::vector< _T > &nbh) const override |
Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default) | |
void | nearestR (const _T &data, double radius, std::vector< _T > &nbh) const override |
Return the nearest neighbors within distance radius in sorted order if searchParams_.sorted==true (the default) | |
std::size_t | size () const override |
Get the number of elements in the datastructure. | |
void | list (std::vector< _T > &data) const override |
Get all the elements in the datastructure. | |
virtual void | setIndexParams (const std::shared_ptr< flann::IndexParams > ¶ms) |
Set the FLANN index parameters. | |
virtual const std::shared_ptr< flann::IndexParams > & | getIndexParams () 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 () |
Get the FLANN parameters used during nearest neighbor searches. | |
const flann::SearchParams & | getSearchParams () const |
Get the FLANN parameters used during nearest neighbor searches. | |
unsigned int | getContainerSize () const |
Public Member Functions inherited from ompl::NearestNeighbors< _T > | |
virtual void | setDistanceFunction (const DistanceFunction &distFun) |
Set the distance function to use. | |
const DistanceFunction & | getDistanceFunction () 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). | |
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_). | |
std::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 > | |
using | DistanceFunction = std::function<double(const _T &, const _T &)> |
The definition of a distance function. |
Detailed Description
class ompl::NearestNeighborsFLANN< _T, _Dist >
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. https://github.com/mariusmuja/flann
Definition at line 87 of file NearestNeighborsFLANN.h.
Constructor & Destructor Documentation
◆ NearestNeighborsFLANN()
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inline |
Definition at line 90 of file NearestNeighborsFLANN.h.
◆ ~NearestNeighborsFLANN()
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inlineoverride |
Definition at line 95 of file NearestNeighborsFLANN.h.
Member Function Documentation
◆ add() [1/2]
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inlineoverridevirtual |
Add an element to the datastructure.
Implements ompl::NearestNeighbors< _T >.
Definition at line 122 of file NearestNeighborsFLANN.h.
◆ add() [2/2]
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inlineoverridevirtual |
Add a vector of points.
Reimplemented from ompl::NearestNeighbors< _T >.
Definition at line 137 of file NearestNeighborsFLANN.h.
◆ clear()
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inlineoverridevirtual |
Clear the datastructure.
Implements ompl::NearestNeighbors< _T >.
Definition at line 101 of file NearestNeighborsFLANN.h.
◆ createIndex() [1/2]
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inlineprotected |
Internal function to construct nearest neighbor data structure with initial elements stored in mat.
Definition at line 282 of file NearestNeighborsFLANN.h.
◆ createIndex() [2/2]
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inlineprotected |
Definition at line 324 of file NearestNeighborsFLANN.h.
◆ getContainerSize()
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inline |
Definition at line 274 of file NearestNeighborsFLANN.h.
◆ getIndexParams()
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inlinevirtual |
Get the FLANN parameters used to build the current index.
Definition at line 248 of file NearestNeighborsFLANN.h.
◆ getSearchParams() [1/2]
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inline |
Get the FLANN parameters used during nearest neighbor searches.
Definition at line 262 of file NearestNeighborsFLANN.h.
◆ getSearchParams() [2/2]
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inline |
Get the FLANN parameters used during nearest neighbor searches.
Definition at line 269 of file NearestNeighborsFLANN.h.
◆ list()
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inlineoverridevirtual |
Get all the elements in the datastructure.
Implements ompl::NearestNeighbors< _T >.
Definition at line 222 of file NearestNeighborsFLANN.h.
◆ nearest()
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inlineoverridevirtual |
Get the nearest neighbor of a point.
Implements ompl::NearestNeighbors< _T >.
Definition at line 177 of file NearestNeighborsFLANN.h.
◆ nearestK()
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inlineoverridevirtual |
Return the k nearest neighbors in sorted order if searchParams_.sorted==true (the default)
Implements ompl::NearestNeighbors< _T >.
Definition at line 192 of file NearestNeighborsFLANN.h.
◆ nearestR()
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inlineoverridevirtual |
Return the nearest neighbors within distance radius
in sorted order if searchParams_.sorted==true (the default)
Implements ompl::NearestNeighbors< _T >.
Definition at line 205 of file NearestNeighborsFLANN.h.
◆ rebuildIndex()
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inlineprotected |
Rebuild the nearest neighbor data structure (necessary when changing the distance function or index parameters).
Definition at line 290 of file NearestNeighborsFLANN.h.
◆ remove()
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inlineoverridevirtual |
Remove an element from the datastructure.
Implements ompl::NearestNeighbors< _T >.
Definition at line 160 of file NearestNeighborsFLANN.h.
◆ reportsSortedResults()
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inlineoverridevirtual |
Return true if the solutions reported by this data structure are sorted, when calling nearestK / nearestR.
Implements ompl::NearestNeighbors< _T >.
Definition at line 111 of file NearestNeighborsFLANN.h.
◆ setDistanceFunction()
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inlineoverride |
Definition at line 116 of file NearestNeighborsFLANN.h.
◆ setIndexParams()
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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 241 of file NearestNeighborsFLANN.h.
◆ setSearchParams()
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inlinevirtual |
Set the FLANN parameters to be used during nearest neighbor searches.
Definition at line 255 of file NearestNeighborsFLANN.h.
◆ size()
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inlineoverridevirtual |
Get the number of elements in the datastructure.
Implements ompl::NearestNeighbors< _T >.
Definition at line 217 of file NearestNeighborsFLANN.h.
Member Data Documentation
◆ data_
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protected |
vector of data stored in FLANN's index. FLANN only indexes references, so we need store the original data.
Definition at line 305 of file NearestNeighborsFLANN.h.
◆ dimension_
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protected |
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.
Definition at line 320 of file NearestNeighborsFLANN.h.
◆ index_
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protected |
The FLANN index (the actual index type depends on params_).
Definition at line 308 of file NearestNeighborsFLANN.h.
◆ params_
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protected |
The FLANN index parameters. This contains both the type of index and the parameters for that type.
Definition at line 312 of file NearestNeighborsFLANN.h.
◆ searchParams_
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mutableprotected |
The parameters used to seach for nearest neighbors.
Definition at line 315 of file NearestNeighborsFLANN.h.
The documentation for this class was generated from the following file:
- ompl/datastructures/NearestNeighborsFLANN.h