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dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace > Class Template Reference

#include <KDTree.h>

Collaboration diagram for dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >:
Collaboration graph

Classes

struct  DistanceId
 
class  Searcher
 

Public Types

using scalar_t = Scalar
 
using id_t = Id
 
using point_t = Eigen::Matrix<Scalar, Dimensions, 1>
 
using cref_t = const Eigen::Ref<const Eigen::Matrix<Scalar, Dimensions, 1>> &
 
using ref_t = Eigen::Ref<Eigen::Matrix<Scalar, Dimensions, 1>>
 
using state_space_t = StateSpace
 
using tree_t = KDTree<Id, Dimensions, BucketSize, Scalar, StateSpace>
 

Public Member Functions

StateSpace & getStateSpace ()
 
 KDTree ()=default
 
void init_tree (int runtime_dimension=-1, const StateSpace &t_state_space=StateSpace())
 
size_t size () const
 
void addPoint (const point_t &x, const Id &id, bool autosplit=true)
 
void splitOutstanding ()
 
std::vector< DistanceId > searchKnn (const point_t &x, std::size_t maxPoints) const
 
std::vector< DistanceId > searchBall (const point_t &x, Scalar maxRadius) const
 
std::vector< DistanceId > searchCapacityLimitedBall (const point_t &x, Scalar maxRadius, std::size_t maxPoints) const
 
DistanceId search (const point_t &x) const
 
void set_inactive (const point_t &x)
 
Searcher searcher () const
 

Public Attributes

int m_dimensions = Dimensions
 

Static Public Attributes

static const std::size_t bucketSize = BucketSize
 

Member Typedef Documentation

◆ cref_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::cref_t = const Eigen::Ref<const Eigen::Matrix<Scalar, Dimensions, 1>> &

◆ id_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::id_t = Id

◆ point_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::point_t = Eigen::Matrix<Scalar, Dimensions, 1>

◆ ref_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::ref_t = Eigen::Ref<Eigen::Matrix<Scalar, Dimensions, 1>>

◆ scalar_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::scalar_t = Scalar

◆ state_space_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::state_space_t = StateSpace

◆ tree_t

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
using dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::tree_t = KDTree<Id, Dimensions, BucketSize, Scalar, StateSpace>

Constructor & Destructor Documentation

◆ KDTree()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::KDTree ( )
default

Member Function Documentation

◆ addPoint()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
void dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::addPoint ( const point_t & x,
const Id & id,
bool autosplit = true )
inline

◆ getStateSpace()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
StateSpace & dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::getStateSpace ( )
inline

◆ init_tree()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
void dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::init_tree ( int runtime_dimension = -1,
const StateSpace & t_state_space = StateSpace() )
inline

◆ search()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
DistanceId dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::search ( const point_t & x) const
inline

◆ searchBall()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
std::vector< DistanceId > dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::searchBall ( const point_t & x,
Scalar maxRadius ) const
inline
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◆ searchCapacityLimitedBall()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
std::vector< DistanceId > dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::searchCapacityLimitedBall ( const point_t & x,
Scalar maxRadius,
std::size_t maxPoints ) const
inline
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◆ searcher()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
Searcher dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::searcher ( ) const
inline
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◆ searchKnn()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
std::vector< DistanceId > dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::searchKnn ( const point_t & x,
std::size_t maxPoints ) const
inline
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◆ set_inactive()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
void dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::set_inactive ( const point_t & x)
inline

◆ size()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
size_t dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::size ( ) const
inline

◆ splitOutstanding()

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
void dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::splitOutstanding ( )
inline

Member Data Documentation

◆ bucketSize

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
const std::size_t dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::bucketSize = BucketSize
static

◆ m_dimensions

template<class Id , int Dimensions, std::size_t BucketSize = 32, typename Scalar = double, typename StateSpace = Rn<Scalar, Dimensions>>
int dynotree::KDTree< Id, Dimensions, BucketSize, Scalar, StateSpace >::m_dimensions = Dimensions
The documentation for this class was generated from the following file:
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