RnEuclidean.hpp

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#ifndef AIKIDO_DISTANCE_EUCLIDEANDISTANCEMETRIC_HPP_
#define AIKIDO_DISTANCE_EUCLIDEANDISTANCEMETRIC_HPP_
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/statespace/Rn.hpp"
 
namespace aikido {
namespace distance {
 
template <int N>
class REuclidean : public DistanceMetric
{
public:
  explicit REuclidean(std::shared_ptr<const statespace::R<N>> _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<const statespace::R<N>> mStateSpace;
};
 
using R0Euclidean = REuclidean<0>;
using R1Euclidean = REuclidean<1>;
using R2Euclidean = REuclidean<2>;
using R3Euclidean = REuclidean<3>;
using R6Euclidean = REuclidean<6>;
using RnEuclidean = REuclidean<Eigen::Dynamic>;
 
} // namespace distance
} // namespace aikido
 
#include "aikido/distance/detail/RnEuclidean-impl.hpp"
 
#endif