Implements a distance metric defined on a StateSpace. More...

#include <aikido/distance/DistanceMetric.hpp>

Inheritance diagram for aikido::distance::DistanceMetric:

Public Member Functions
virtual	~DistanceMetric ()=default
	Destructor. More...

virtual statespace::ConstStateSpacePtr	getStateSpace () const =0
	Get the StateSpace associated with this metric. More...

virtual double	distance (const statespace::StateSpace::State _state1, const statespace::StateSpace::State _state2) const =0
	Computes distance between two states. More...

Detailed Description

Implements a distance metric defined on a StateSpace.

Constructor & Destructor Documentation

◆ ~DistanceMetric()

virtual aikido::distance::DistanceMetric::~DistanceMetric ( )

virtualdefault

Destructor.

Member Function Documentation

◆ distance()

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

pure virtual

Computes distance between two states.

This function satisfies the properties of a metric: (1) distance(s1, s2) >= 0 (2) distance(s1, s2) = 0 implies s1 == s2 (3) distance(s1, s2) == distance(s2, s1) (4) distance(s1, s3) <= distance(s1, s2) + distance(s2, s3)

Implemented in aikido::distance::SE2Weighted, aikido::distance::CartesianProductWeighted, aikido::distance::REuclidean< N >, aikido::distance::SE2, aikido::distance::SO2Angular, and aikido::distance::SO3Angular.

◆ getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::distance::DistanceMetric::getStateSpace ( ) const