aikido::distance::CartesianProductWeighted Class Reference

Implements a distance metric on a CartesianProduct. More...

#include <aikido/distance/CartesianProductWeighted.hpp>

Inheritance diagram for aikido::distance::CartesianProductWeighted:

Public Member Functions
	CartesianProductWeighted (std::shared_ptr< const statespace::CartesianProduct > _space, std::vector< DistanceMetricPtr > _metrics)
	Constructor. More...
	CartesianProductWeighted (std::shared_ptr< statespace::CartesianProduct > _space, std::vector< std::pair< DistanceMetricPtr, double >> _metrics)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Get the StateSpace associated with this metric. More...
double	distance (const statespace::StateSpace::State *_state1, const statespace::StateSpace::State *_state2) const override
	Computes distance between two states as the weighted sum of distances between their matching subcomponents. More...
Public Member Functions inherited from aikido::distance::DistanceMetric
virtual	~DistanceMetric ()=default
	Destructor. More...

Private Attributes
std::shared_ptr< const statespace::CartesianProduct >	mStateSpace
std::vector< std::pair< DistanceMetricPtr, double > >	mMetrics

Detailed Description

Implements a distance metric on a CartesianProduct.

This metric computes the weighted sum of distances on the individual components of the statespace.

Constructor & Destructor Documentation

CartesianProductWeighted() [1/2]

aikido::distance::CartesianProductWeighted::CartesianProductWeighted	(	std::shared_ptr< const statespace::CartesianProduct >	_space,
		std::vector< DistanceMetricPtr >	_metrics
	)

Constructor.

Default the weights applied to each subspace to 1.

Parameters

_space	The state space
_metrics	A vector containing one element for every component of the CartesianProduct

CartesianProductWeighted() [2/2]

aikido::distance::CartesianProductWeighted::CartesianProductWeighted	(	std::shared_ptr< statespace::CartesianProduct >	_space,
		std::vector< std::pair< DistanceMetricPtr, double >>	_metrics
	)

Constructor.

CartesianProduct. The first element of every pair in the vector is the metric and the second is the weight to be applied to the metric. The weights must all be positive.

Parameters

_space	The state space
_metrics	A vector containing one element for every component of the

Member Function Documentation

distance()

double aikido::distance::CartesianProductWeighted::distance ( const statespace::StateSpace::State *  _state1, const statespace::StateSpace::State *  _state2  ) const

overridevirtual

Computes distance between two states as the weighted sum of distances between their matching subcomponents.

Parameters

_state1	The first state (type CartesianProduct::State)
_state2	The second state (type CartesianProduct::State)

Implements aikido::distance::DistanceMetric.

getStateSpace()

statespace::ConstStateSpacePtr aikido::distance::CartesianProductWeighted::getStateSpace ( ) const

overridevirtual

Get the StateSpace associated with this metric.

Implements aikido::distance::DistanceMetric.

Member Data Documentation

mMetrics

std::vector<std::pair<DistanceMetricPtr, double> > aikido::distance::CartesianProductWeighted::mMetrics

private

mStateSpace

std::shared_ptr<const statespace::CartesianProduct> aikido::distance::CartesianProductWeighted::mStateSpace

private