SE2Weighted.hpp

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#ifndef AIKIDO_DISTANCE_SE2WEIGHTED_HPP_
#define AIKIDO_DISTANCE_SE2WEIGHTED_HPP_
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/statespace/SE2.hpp"
 
namespace aikido {
namespace distance {
 
class SE2Weighted : public DistanceMetric
{
public:
  explicit SE2Weighted(std::shared_ptr<const statespace::SE2> space);
 
  SE2Weighted(
      std::shared_ptr<const statespace::SE2> space,
      const Eigen::Vector2d& weights);
 
  // 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::SE2> mStateSpace;
 
  Eigen::Vector2d mWeights;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace distance
} // namespace aikido
 
#endif // AIKIDO_DISTANCE_SE2WEIGHTED_HPP_