traits.hpp

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// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <type_traits>
#include <Eigen/Core>
 
namespace small_gicp {
 
namespace traits {
 
template <typename T>
struct Traits;
 
template <typename T>
size_t knn_search(const T& tree, const Eigen::Vector4d& point, size_t k, size_t* k_indices, double* k_sq_dists) {
  return Traits<T>::knn_search(tree, point, k, k_indices, k_sq_dists);
}
 
template <typename T>
struct has_nearest_neighbor_search {
  template <typename U, int = (&Traits<U>::nearest_neighbor_search, 0)>
  static std::true_type test(U*);
  static std::false_type test(...);
 
  static constexpr bool value = decltype(test((T*)nullptr))::value;
};
 
template <typename T, std::enable_if_t<has_nearest_neighbor_search<T>::value, bool> = true>
size_t nearest_neighbor_search(const T& tree, const Eigen::Vector4d& point, size_t* k_index, double* k_sq_dist) {
  return Traits<T>::nearest_neighbor_search(tree, point, k_index, k_sq_dist);
}
 
template <typename T, std::enable_if_t<!has_nearest_neighbor_search<T>::value, bool> = true>
size_t nearest_neighbor_search(const T& tree, const Eigen::Vector4d& point, size_t* k_index, double* k_sq_dist) {
  return Traits<T>::knn_search(tree, point, 1, k_index, k_sq_dist);
}
 
}  // namespace traits
 
}  // namespace small_gicp