SE2.hpp

Go to the documentation of this file.

#ifndef AIKIDO_DISTANCE_SE2DISTANCEMETRIC_HPP_
#define AIKIDO_DISTANCE_SE2DISTANCEMETRIC_HPP_
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/statespace/SE2.hpp"
 
namespace aikido {
namespace distance {
 
class SE2 : public DistanceMetric
{
public:
  explicit SE2(std::shared_ptr<statespace::SE2> _space);
 
  // Documentation inherited
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
 
  double distance(
      const statespace::StateSpace::State* _state1,
      const statespace::StateSpace::State* _state2) const override;
 
private:
  std::shared_ptr<statespace::SE2> mStateSpace;
};
 
} // namespace distance
} // namespace aikido
 
#endif