KNearest.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/>.
 */
#ifndef MPBLOCKS_KD_TREE_EUCLIDEAN_KNEAREST_H_
#define MPBLOCKS_KD_TREE_EUCLIDEAN_KNEAREST_H_

#include <set>

namespace  mpblocks {
namespace   kd_tree {
namespace euclidean {


template <class Traits,
            template<class> class Allocator = std::allocator >
class KNearest :
    public NearestSearchIface<Traits>
{
    public:
        typedef typename Traits::Format_t   Format_t;
        typedef typename Traits::Node       Node_t;

        typedef Distance<Traits>            Distance_t;
        typedef HyperRect<Traits>           HyperRect_t;
        typedef Key<Traits>                 Key_t;
        typedef typename Key_t::Compare     KeyCompare_t;
        typedef Allocator<Key_t>            Allocator_t;

        typedef Eigen::Matrix<Format_t,Traits::NDim,1>   Point_t;
        typedef std::set<Key_t,KeyCompare_t,Allocator_t> PQueue_t;

    protected:
        unsigned int    m_k;
        PQueue_t        m_queue;
        Distance_t      m_dist2Fn;

    public:
        KNearest( unsigned int k=1 );

        virtual ~KNearest(){};

        // clear the queue
        void reset();

        // clear the queue and change k
        void reset( int k );

        // return the result
        const PQueue_t& result();

        virtual void evaluate(const Point_t& q, const Point_t& p, Node_t* n);

        virtual bool shouldRecurse(const Point_t& q, const HyperRect_t& r );
};






} // namespace euclidean
} // namespace kd_tree
} // namespace mpblocks








#endif // NEARESTNEIGHBOR_H_