aikido::distance::SO3Angular Class Reference

Implements a distance metric on SO(3) More...

#include <aikido/distance/SO3Angular.hpp>

Inheritance diagram for aikido::distance::SO3Angular:

Public Member Functions
	SO3Angular (std::shared_ptr< const statespace::SO3 > _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 distance (in radians) between the two states. More...
Public Member Functions inherited from aikido::distance::DistanceMetric
virtual	~DistanceMetric ()=default
	Destructor. More...

Private Attributes
std::shared_ptr< const statespace::SO3 >	mStateSpace

Detailed Description

Implements a distance metric on SO(3)

Constructor & Destructor Documentation

SO3Angular()

aikido::distance::SO3Angular::SO3Angular ( std::shared_ptr< const statespace::SO3 >  _space )

explicit

Constructor.

Parameters

_space

The SO3 this distance metric operates on

Member Function Documentation

distance()

double aikido::distance::SO3Angular::distance ( const statespace::StateSpace::State *  _state1, const statespace::StateSpace::State *  _state2  ) const

overridevirtual

Computes distance (in radians) between the two states.

Parameters

_state1	The first state (type SO3::State)
_state2	The second state (type SO3::State)

Implements aikido::distance::DistanceMetric.

getStateSpace()

statespace::ConstStateSpacePtr aikido::distance::SO3Angular::getStateSpace ( ) const

overridevirtual

Get the StateSpace associated with this metric.

Implements aikido::distance::DistanceMetric.

Member Data Documentation

mStateSpace

std::shared_ptr<const statespace::SO3> aikido::distance::SO3Angular::mStateSpace

private