KDTree3D< Coordinate, Distance, NodeCmp > Class Template Reference
Detailed Description
template<typename Coordinate, typename Distance = details::SquaredDistance<Coordinate, 3>, typename NodeCmp = details::NodeCmp<3>>
class maliput::math::KDTree3D< Coordinate, Distance, NodeCmp >
3-Dimensional KDTree.
In addition it provides a RangeSearch method for range queries in the 3D-space.
KDTree<Vector3> tree{points};
tree.RangeSearch(region_1);
tree.RangeSearch(region_2);
...
tree.nearest_point(point_1); // NearestNeighbour (NN).
- Template Parameters
-
Coordinate Data type being used, must have: - operator[] for accessing the value in each dimension.
Dimension Dimension of the KD-tree. Distance A functor used for getting the distance between two coordinates. By default, details::SquaredDistance is used. NodeCmp A functor used for comparing two nodes at certain index/dimension. By default, details::NodeCmp is used.
#include <include/maliput/math/kd_tree.h>
Inheritance diagram for KDTree3D< Coordinate, Distance, NodeCmp >:
Public Member Functions | |
| template<typename Iterator > | |
| KDTree3D (Iterator begin, Iterator end) | |
| template<typename Collection > | |
| KDTree3D (Collection &&points) | |
| Constructs a KDTreeBase taking a vector of points. More... | |
| std::deque< const Coordinate * > | RangeSearch (const AxisAlignedBox ®ion) const |
| Range search in the 3D-space. More... | |
 Public Member Functions inherited from KDTreeBase< KDTree3D< Coordinate, details::SquaredDistance< Coordinate, 3 >, details::NodeCmp< 3 > >, Coordinate, 3, AxisAlignedBox, details::SquaredDistance< Coordinate, 3 >, details::NodeCmp< 3 > > | |
| KDTreeBase (Iterator begin, Iterator end) | |
| Constructs a KDTreeBase taking a pair of iterators. More... | |
| KDTreeBase (Collection &&points) | |
| Constructs a KDTreeBase taking a vector of points. More... | |
| const Coordinate & | nearest_point (const Coordinate &point) const |
| Finds the nearest point in the tree to the given point. More... | |
| const Coordinate & | nearest_point (const Coordinate &point, double tolerance) const |
| Finds the nearest point in the tree to the given point. More... | |
Constructor & Destructor Documentation
◆ KDTree3D() [1/2]
| KDTree3D | ( | Iterator | begin, |
| Iterator | end | ||
| ) |
◆ KDTree3D() [2/2]
| KDTree3D | ( | Collection && | points | ) |
Constructs a KDTreeBase taking a vector of points.
- Parameters
-
points Vector of points
- Template Parameters
-
Collection type of the collection.
- Exceptions
-
maliput::common::assertion_error When the range is empty.
Member Function Documentation
◆ RangeSearch()
| std::deque<const Coordinate*> RangeSearch | ( | const AxisAlignedBox & | region | ) | const |
Range search in the 3D-space.
- Parameters
-
region The region to be searched Coordinates on.
- Returns
- A vector of Coordinates located in the
region. For further info on Range Search algorithm see http://www.cs.utah.edu/~lifeifei/cis5930/kdtree.pdf
The documentation for this class was generated from the following file:
