Tree.h

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/*
 *  Copyright (C) 2012 Josh Bialkowski (jbialk@mit.edu)
 *
 *  This file is part of mpblocks.
 *
 *  mpblocks is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  mpblocks is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with mpblocks.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
 *  @file   Tree.h
 *
 *  @date   Mar 26, 2011
 *  @author Josh Bialkowski (jbialk@mit.edu)
 *  @brief  basically a c++ rewrite of http://code.google.com/p/kdtree/
 */

#ifndef MPBLOCKS_KD_TREE_TREE_H_
#define MPBLOCKS_KD_TREE_TREE_H_

#include <vector>
#include <memory>

namespace mpblocks {
namespace  kd_tree {

template <class Traits>
class Tree
{
    public:
        typedef typename Traits::Format_t           Format_t;

        typedef typename Traits::Node               Node_t;

        typedef typename Traits::HyperRect          HyperRect_t;

        typedef Eigen::Matrix<Format_t,Traits::NDim,1>  Vector_t;

        typedef Vector_t                                Point_t;

        // these just shorten up some of the templated classes into smaller
        // names
        typedef Tree<Traits>                        This_t;
        typedef Node<Traits>                        NodeBase_t;
        typedef ListBuilder<Traits >                ListBuilder_t;
        typedef NearestSearchIface<Traits>          NNIface_t;
        typedef RangeSearchIface<Traits>            RangeIface_t;

    protected:
        Node_t*         m_root;     
        ListBuilder_t   m_lister;   
        HyperRect_t     m_rect;     
        int             m_size;     

        HyperRect_t     m_initRect; 
        HyperRect_t     m_bounds;   

    public:

        Tree( );

        ~Tree();

        void set_initRect( const HyperRect_t& h );


        void insert(Node_t*);

        void findNearest( const Point_t& q, NNIface_t& search );

        void findRange( RangeIface_t& search );

        typename ListBuilder_t::List_t& buildList( bool bfs=true );

        typename ListBuilder_t::List_t& getList(){ return m_lister.getList(); }

        Node_t* getRoot(){ return m_root; }

        void clear();

        int size();
};

} // namespace kd_tree
} // namespace mpblocks


#endif /* CKDTREE_H_ */