aikido::distance::SO2Angular Class Reference

Computes the shortest distance between two angles in SO(2) More...

#include <aikido/distance/SO2Angular.hpp>

Inheritance diagram for aikido::distance::SO2Angular:

Public Member Functions
	SO2Angular (std::shared_ptr< const statespace::SO2 > _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 angles. More...
Public Member Functions inherited from aikido::distance::DistanceMetric
virtual	~DistanceMetric ()=default
	Destructor. More...

Private Attributes
std::shared_ptr< const statespace::SO2 >	mStateSpace

Detailed Description

Computes the shortest distance between two angles in SO(2)

Constructor & Destructor Documentation

SO2Angular()

aikido::distance::SO2Angular::SO2Angular ( std::shared_ptr< const statespace::SO2 >  _space )

explicit

Constructor.

Parameters

_space

The SO2 this distance metric operates on

Member Function Documentation

distance()

double aikido::distance::SO2Angular::distance ( const statespace::StateSpace::State *  _state1, const statespace::StateSpace::State *  _state2  ) const

overridevirtual

Computes shortest distance between two angles.

(return value between 0 and pi)

Parameters

_state1	The first state (type: SO2::State)
_state2	The second state (type: SO2::State)

Implements aikido::distance::DistanceMetric.

getStateSpace()

statespace::ConstStateSpacePtr aikido::distance::SO2Angular::getStateSpace ( ) const

overridevirtual

Get the StateSpace associated with this metric.

Implements aikido::distance::DistanceMetric.

Member Data Documentation

mStateSpace

std::shared_ptr<const statespace::SO2> aikido::distance::SO2Angular::mStateSpace

private