PartialIndexTable< T, Cell > Class Template Reference

Provides an Partial Index Table to be used for nearest neighbor search. More...

#include <PartialIndexTable.hpp>

Public Member Functions
	PartialIndexTable (const rw::models::Device::QBox &bounds, rw::math::Q &weights, double r, int dims)
	Constructs Partial Index Table. More...
void	addNode (const T &node, const rw::math::Q &q)
	Adds a node to the table. More...
void	removeNode (const T &node, const rw::math::Q &q)
	Removes node from the table. More...
template<class Collection >
void	searchNeighbors (const rw::math::Q &q, Collection &result) const
	Searches for all potential neighbors. More...
std::list< T >	searchNeighbors (const rw::math::Q &q) const
	Searches for all potential neighbors. More...

Friends
bool	operator< (const Dimension &a, const Dimension &b)
	Compares which of two dimensions is the best for the table.

Detailed Description

template<class T, class Cell = std::list<T>>
class rwlibs::pathplanners::prm::PartialIndexTable< T, Cell >

Provides an Partial Index Table to be used for nearest neighbor search.

This class is implemented as a helper for the PRMPlanner.

Constructor & Destructor Documentation

PartialIndexTable()

PartialIndexTable ( const rw::models::Device::QBox &  bounds, rw::math::Q &  weights, double  r, int  dims  )

inline

Constructs Partial Index Table.

Parameters

bounds	[in] Bounds of the space to partially index
weights	[in] The weights for the WeightedEuclideanMetric used determining whether two nodes are neighbors
r	[in] The distance where two nodes are considered neighbors
dims	[in] The number of dimensions of the table. dims has to be within [1, dof]

Member Function Documentation

addNode()

void addNode ( const T &  node, const rw::math::Q &  q  )

inline

Adds a node to the table.

Parameters

node	[in] Node to add
q	[in] Configuration of node

removeNode()

void removeNode ( const T &  node, const rw::math::Q &  q  )

inline

Removes node from the table.

Parameters

node	[in] Node to remove
q	[in] Configuration associated with the node. Used to find the table entry containing the node.

searchNeighbors() [1/2]

std::list<T> searchNeighbors ( const rw::math::Q &  q ) const

inline

Searches for all potential neighbors.

The potential neighbor is those within the cell associated with q and all neighboring cells.

To find the true neighbors one has to run through the content of the list and make an exact match.

Parameters

q	[in] Configuration to search neighbors for

searchNeighbors() [2/2]

void searchNeighbors ( const rw::math::Q &  q, Collection &  result  ) const

inline

Searches for all potential neighbors.

The potential neighbor is those within the cell associated with q and all neighboring cells.

To find the true neighbors one has to run through the content of the list and make an exact match.

Parameters

q	[in] Configuration to search neighbors for
result	[out] The neighbors of q

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

• PartialIndexTable.hpp