acap 0.4.0

//! [Nearest neighbor search](https://en.wikipedia.org/wiki/Nearest_neighbor_search) interfaces.

use crate::distance::{Distance, Proximity};

use alloc::vec::Vec;

/// A nearest neighbor.
#[derive(Clone, Copy, Debug)]
pub struct Neighbor<V, D> {
    /// The neighbor itself.
    pub item: V,
    /// The distance from the target to this neighbor.
    pub distance: D,
}

impl<V, D> Neighbor<V, D> {
    /// Create a new Neighbor.
    pub fn new(item: V, distance: D) -> Self {
        Self { item, distance }
    }
}

impl<V1, D1, V2, D2> PartialEq<Neighbor<V2, D2>> for Neighbor<V1, D1>
where
    V1: PartialEq<V2>,
    D1: PartialEq<D2>,
{
    fn eq(&self, other: &Neighbor<V2, D2>) -> bool {
        self.item == other.item && self.distance == other.distance
    }
}

/// Accumulates nearest neighbor search results.
///
/// Type parameters:
///
/// * `K`: The type of the search target (the "key" type)
/// * `V`: The type of neighbors this contains (the "value" type)
///
/// Neighborhood implementations keep track of the current search radius and accumulate the results,
/// work which would otherwise have to be duplicated for every nearest neighbor search algorithm.
/// They also serve as a customization point, allowing for functionality to be injected into any
/// [NearestNeighbors] implementation (for example, filtering the result set or limiting the number
/// of neighbors considered).
pub trait Neighborhood<K: Proximity<V>, V> {
    /// Returns the target of the nearest neighbor search.
    fn target(&self) -> K;

    /// Check whether a distance is within the current search radius.
    fn contains<D>(&self, distance: D) -> bool
    where
        D: PartialOrd<K::Distance>;

    /// Consider a new candidate neighbor.
    ///
    /// Returns `self.target().distance(item)`.
    fn consider(&mut self, item: V) -> K::Distance;
}

/// A [Neighborhood] with at most one result.
#[derive(Debug)]
struct SingletonNeighborhood<K, V, D> {
    /// The search target.
    target: K,
    /// The current threshold distance.
    threshold: Option<D>,
    /// The current nearest neighbor, if any.
    neighbor: Option<Neighbor<V, D>>,
}

impl<K, V, D> SingletonNeighborhood<K, V, D> {
    /// Create a new singleton neighborhood.
    ///
    /// * `target`: The search target.
    /// * `threshold`: The maximum allowable distance.
    fn new(target: K, threshold: Option<D>) -> Self {
        Self {
            target,
            threshold,
            neighbor: None,
        }
    }

    /// Convert this result into an optional neighbor.
    fn into_option(self) -> Option<Neighbor<V, D>> {
        self.neighbor
    }
}

impl<K, V> Neighborhood<K, V> for SingletonNeighborhood<K, V, K::Distance>
where
    K: Copy + Proximity<V>,
{
    fn target(&self) -> K {
        self.target
    }

    fn contains<D>(&self, distance: D) -> bool
    where
        D: PartialOrd<K::Distance>,
    {
        self.threshold.map_or(true, |t| distance <= t)
    }

    fn consider(&mut self, item: V) -> K::Distance {
        let distance = self.target.distance(&item);

        if self.contains(distance) {
            self.threshold = Some(distance);
            self.neighbor = Some(Neighbor::new(item, distance));
        }

        distance
    }
}

/// A [Neighborhood] of up to `k` results, using a binary heap.
#[derive(Debug)]
struct HeapNeighborhood<'a, K, V, D> {
    /// The target of the nearest neighbor search.
    target: K,
    /// The number of nearest neighbors to find.
    k: usize,
    /// The current threshold distance to the farthest result.
    threshold: Option<D>,
    /// A max-heap of the best candidates found so far.
    heap: &'a mut Vec<Neighbor<V, D>>,
}

impl<'a, K, V, D: Distance> HeapNeighborhood<'a, K, V, D> {
    /// Create a new HeapNeighborhood.
    ///
    /// * `target`: The search target.
    /// * `k`: The maximum number of nearest neighbors to find.
    /// * `threshold`: The maximum allowable distance.
    /// * `heap`: The vector of neighbors to use as the heap.
    fn new(
        target: K,
        k: usize,
        mut threshold: Option<D>,
        heap: &'a mut Vec<Neighbor<V, D>>,
    ) -> Self {
        // A descending array is also a max-heap
        heap.reverse();

        if k > 0 && heap.len() == k {
            let distance = heap[0].distance;
            if threshold.map_or(true, |t| distance <= t) {
                threshold = Some(distance);
            }
        }

        Self {
            target,
            k,
            threshold,
            heap,
        }
    }

    /// Push a new element into the heap.
    fn push(&mut self, item: Neighbor<V, D>) {
        let mut i = self.heap.len();
        self.heap.push(item);

        while i > 0 {
            let parent = (i - 1) / 2;
            if self.heap[i].distance > self.heap[parent].distance {
                self.heap.swap(i, parent);
                i = parent;
            } else {
                break;
            }
        }
    }

    /// Restore the heap property by lowering the root.
    fn sink_root(&mut self, len: usize) {
        let mut i = 0;
        let dist = self.heap[i].distance;

        loop {
            let mut child = 2 * i + 1;
            let right = child + 1;
            if right < len && self.heap[child].distance < self.heap[right].distance {
                child = right;
            }

            if child < len && dist < self.heap[child].distance {
                self.heap.swap(i, child);
                i = child;
            } else {
                break;
            }
        }
    }

    /// Replace the root of the heap with a new element.
    fn replace_root(&mut self, item: Neighbor<V, D>) {
        self.heap[0] = item;
        self.sink_root(self.heap.len());
    }

    /// Sort the heap from smallest to largest distance.
    fn sort(&mut self) {
        for i in (0..self.heap.len()).rev() {
            self.heap.swap(0, i);
            self.sink_root(i);
        }
    }
}

impl<'a, K, V> Neighborhood<K, V> for HeapNeighborhood<'a, K, V, K::Distance>
where
    K: Copy + Proximity<V>,
{
    fn target(&self) -> K {
        self.target
    }

    fn contains<D>(&self, distance: D) -> bool
    where
        D: PartialOrd<K::Distance>,
    {
        self.k > 0 && self.threshold.map_or(true, |t| distance <= t)
    }

    fn consider(&mut self, item: V) -> K::Distance {
        let distance = self.target.distance(&item);

        if self.contains(distance) {
            let neighbor = Neighbor::new(item, distance);

            if self.heap.len() < self.k {
                self.push(neighbor);
            } else {
                self.replace_root(neighbor);
            }

            if self.heap.len() == self.k {
                self.threshold = Some(self.heap[0].distance);
            }
        }

        distance
    }
}

/// A [nearest neighbor search] index.
///
/// Type parameters:
///
/// * `K`: The type of the search target (the "key" type)
/// * `V`: The type of the returned neighbors (the "value" type)
///
/// In general, exact nearest neighbor searches may be prohibitively expensive due to the [curse of
/// dimensionality].  Therefore, NearestNeighbor implementations are allowed to give approximate
/// results.  The marker trait [ExactNeighbors] denotes implementations which are guaranteed to give
/// exact results.
///
/// [nearest neighbor search]: https://en.wikipedia.org/wiki/Nearest_neighbor_search
/// [curse of dimensionality]: https://en.wikipedia.org/wiki/Curse_of_dimensionality
pub trait NearestNeighbors<K: Proximity<V>, V = K> {
    /// Returns the nearest neighbor to `target` (or `None` if this index is empty).
    fn nearest(&self, target: &K) -> Option<Neighbor<&V, K::Distance>> {
        self.search(SingletonNeighborhood::new(target, None))
            .into_option()
    }

    /// Returns the nearest neighbor to `target` within the distance `threshold`, if one exists.
    fn nearest_within<D>(&self, target: &K, threshold: D) -> Option<Neighbor<&V, K::Distance>>
    where
        D: TryInto<K::Distance>,
    {
        if let Ok(distance) = threshold.try_into() {
            self.search(SingletonNeighborhood::new(target, Some(distance)))
                .into_option()
        } else {
            None
        }
    }

    /// Returns the up to `k` nearest neighbors to `target`.
    ///
    /// The result will be sorted from nearest to farthest.
    fn k_nearest(&self, target: &K, k: usize) -> Vec<Neighbor<&V, K::Distance>> {
        let mut neighbors = Vec::with_capacity(k);
        self.merge_k_nearest(target, k, &mut neighbors);
        neighbors
    }

    /// Returns the up to `k` nearest neighbors to `target` within the distance `threshold`.
    ///
    /// The result will be sorted from nearest to farthest.
    fn k_nearest_within<D>(
        &self,
        target: &K,
        k: usize,
        threshold: D,
    ) -> Vec<Neighbor<&V, K::Distance>>
    where
        D: TryInto<K::Distance>,
    {
        let mut neighbors = Vec::with_capacity(k);
        self.merge_k_nearest_within(target, k, threshold, &mut neighbors);
        neighbors
    }

    /// Merges up to `k` nearest neighbors into an existing sorted vector.
    fn merge_k_nearest<'v>(
        &'v self,
        target: &K,
        k: usize,
        neighbors: &mut Vec<Neighbor<&'v V, K::Distance>>,
    ) {
        self.search(HeapNeighborhood::new(target, k, None, neighbors))
            .sort();
    }

    /// Merges up to `k` nearest neighbors within the `threshold` into an existing sorted vector.
    fn merge_k_nearest_within<'v, D>(
        &'v self,
        target: &K,
        k: usize,
        threshold: D,
        neighbors: &mut Vec<Neighbor<&'v V, K::Distance>>,
    ) where
        D: TryInto<K::Distance>,
    {
        if let Ok(distance) = threshold.try_into() {
            self.search(HeapNeighborhood::new(target, k, Some(distance), neighbors))
                .sort();
        }
    }

    /// Search for nearest neighbors and add them to a neighborhood.
    fn search<'k, 'v, N>(&'v self, neighborhood: N) -> N
    where
        K: 'k,
        V: 'v,
        N: Neighborhood<&'k K, &'v V>;
}

/// Marker trait for [NearestNeighbors] implementations that always return exact results.
pub trait ExactNeighbors<K: Proximity<V>, V = K>: NearestNeighbors<K, V> {}

#[cfg(test)]
pub mod tests {
    use super::*;

    use crate::euclid::{Euclidean, EuclideanDistance};
    use crate::exhaustive::ExhaustiveSearch;

    use rand::random;

    use alloc::vec;

    type Point = Euclidean<[f32; 3]>;

    /// Test an [ExactNeighbors] implementation.
    pub fn test_exact_neighbors<T, F>(from_iter: F)
    where
        T: ExactNeighbors<Point>,
        F: Fn(Vec<Point>) -> T,
    {
        test_empty(&from_iter);
        test_pythagorean(&from_iter);
        test_random_points(&from_iter);
    }

    fn test_empty<T, F>(from_iter: &F)
    where
        T: NearestNeighbors<Point>,
        F: Fn(Vec<Point>) -> T,
    {
        let points = Vec::new();
        let index = from_iter(points);
        let target = Euclidean([0.0, 0.0, 0.0]);
        assert_eq!(index.nearest(&target), None);
        assert_eq!(index.nearest_within(&target, 1.0), None);
        assert!(index.k_nearest(&target, 0).is_empty());
        assert!(index.k_nearest(&target, 3).is_empty());
        assert!(index.k_nearest_within(&target, 0, 1.0).is_empty());
        assert!(index.k_nearest_within(&target, 3, 1.0).is_empty());
    }

    fn test_pythagorean<T, F>(from_iter: &F)
    where
        T: NearestNeighbors<Point>,
        F: Fn(Vec<Point>) -> T,
    {
        let points = vec![
            Euclidean([3.0, 4.0, 0.0]),
            Euclidean([5.0, 0.0, 12.0]),
            Euclidean([0.0, 8.0, 15.0]),
            Euclidean([1.0, 2.0, 2.0]),
            Euclidean([2.0, 3.0, 6.0]),
            Euclidean([4.0, 4.0, 7.0]),
        ];
        let index = from_iter(points);
        let target = Euclidean([0.0, 0.0, 0.0]);

        assert_eq!(
            index.nearest(&target).expect("No nearest neighbor found"),
            Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0)
        );

        assert_eq!(index.nearest_within(&target, 2.0), None);
        assert_eq!(
            index.nearest_within(&target, 4.0).expect("No nearest neighbor found within 4.0"),
            Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0)
        );

        assert!(index.k_nearest(&target, 0).is_empty());
        assert_eq!(
            index.k_nearest(&target, 3),
            vec![
                Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0),
                Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), 5.0),
                Neighbor::new(&Euclidean([2.0, 3.0, 6.0]), 7.0),
            ]
        );

        assert!(index.k_nearest(&target, 0).is_empty());
        assert_eq!(
            index.k_nearest_within(&target, 3, 6.0),
            vec![
                Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0),
                Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), 5.0),
            ]
        );
        assert_eq!(
            index.k_nearest_within(&target, 3, 8.0),
            vec![
                Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0),
                Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), 5.0),
                Neighbor::new(&Euclidean([2.0, 3.0, 6.0]), 7.0),
            ]
        );

        let mut neighbors = Vec::new();
        index.merge_k_nearest(&target, 3, &mut neighbors);
        assert_eq!(
            neighbors,
            vec![
                Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0),
                Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), 5.0),
                Neighbor::new(&Euclidean([2.0, 3.0, 6.0]), 7.0),
            ]
        );

        neighbors = vec![
            Neighbor::new(&target, EuclideanDistance::from_squared(0.0)),
            Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), EuclideanDistance::from_squared(25.0)),
            Neighbor::new(&Euclidean([2.0, 3.0, 6.0]), EuclideanDistance::from_squared(49.0)),
        ];
        index.merge_k_nearest_within(&target, 3, 4.0, &mut neighbors);
        assert_eq!(
            neighbors,
            vec![
                Neighbor::new(&target, 0.0),
                Neighbor::new(&Euclidean([1.0, 2.0, 2.0]), 3.0),
                Neighbor::new(&Euclidean([3.0, 4.0, 0.0]), 5.0),
            ]
        );
    }

    fn test_random_points<T, F>(from_iter: &F)
    where
        T: NearestNeighbors<Point>,
        F: Fn(Vec<Point>) -> T,
    {
        let mut points = Vec::new();
        for _ in 0..256 {
            points.push(Euclidean([random(), random(), random()]));
        }

        let index = from_iter(points.clone());
        let eindex = ExhaustiveSearch::from_iter(points.clone());

        let target = Euclidean([random(), random(), random()]);

        assert_eq!(
            index.k_nearest(&target, 3),
            eindex.k_nearest(&target, 3),
            "target: {:?}, points: {:#?}",
            target,
            points,
        );
    }
}