aikido::distance::SE2 Class Reference

Computes the shortest distance between two angles in SE2. More...

#include <aikido/distance/SE2.hpp>

Inheritance diagram for aikido::distance::SE2:

Public Member Functions
	SE2 (std::shared_ptr< statespace::SE2 > _space)
	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 shortest distance between two SE2 states. More...
Public Member Functions inherited from aikido::distance::DistanceMetric
virtual	~DistanceMetric ()=default
	Destructor. More...

Private Attributes
std::shared_ptr< statespace::SE2 >	mStateSpace

Detailed Description

Computes the shortest distance between two angles in SE2.

Constructor & Destructor Documentation

SE2()

aikido::distance::SE2::SE2 ( std::shared_ptr< statespace::SE2 >  _space )

explicit

Constructor.

Parameters

_space

The SE2 this distance metric operates on

Member Function Documentation

distance()

double aikido::distance::SE2::distance ( const statespace::StateSpace::State *  _state1, const statespace::StateSpace::State *  _state2  ) const

overridevirtual

Computes shortest distance between two SE2 states.

Parameters

_state1	The first state (type: SE2::State)
_state2	The second state (type: SE2::State)

Implements aikido::distance::DistanceMetric.

getStateSpace()

statespace::ConstStateSpacePtr aikido::distance::SE2::getStateSpace ( ) const

overridevirtual

Get the StateSpace associated with this metric.

Implements aikido::distance::DistanceMetric.

Member Data Documentation

mStateSpace

std::shared_ptr<statespace::SE2> aikido::distance::SE2::mStateSpace

private