aikido::distance::SE2Weighted Class Reference

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

#include <aikido/distance/SE2Weighted.hpp>

Inheritance diagram for aikido::distance::SE2Weighted:

Public Member Functions
	SE2Weighted (std::shared_ptr< const statespace::SE2 > space)
	Constructor. More...
	SE2Weighted (std::shared_ptr< const statespace::SE2 > space, const Eigen::Vector2d &weights)
	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 weighted distance between two SE2 states. More...
Public Member Functions inherited from aikido::distance::DistanceMetric
virtual	~DistanceMetric ()=default
	Destructor. More...

Private Attributes
std::shared_ptr< const statespace::SE2 >	mStateSpace
Eigen::Vector2d	mWeights

Detailed Description

Computes the shortest distance between two states in SE2.

Constructor & Destructor Documentation

SE2Weighted() [1/2]

aikido::distance::SE2Weighted::SE2Weighted ( std::shared_ptr< const statespace::SE2 >  space )

explicit

Constructor.

Parameters

space

The SE2 this distance metric operates on The weights have been set to 1 as default

SE2Weighted() [2/2]

aikido::distance::SE2Weighted::SE2Weighted	(	std::shared_ptr< const statespace::SE2 >	space,
		const Eigen::Vector2d &	weights
	)

Constructor.

It is a vector of 2 elements, the first element corresponds to the weight of translational distance and the second the weight for angular distance

Parameters

space	The SE2 this distance metric operates on
weights	The weights over translational and angular distances

Member Function Documentation

distance()

double aikido::distance::SE2Weighted::distance ( const statespace::StateSpace::State *  state1, const statespace::StateSpace::State *  state2  ) const

overridevirtual

Computes weighted 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::SE2Weighted::getStateSpace ( ) const

overridevirtual

Get the StateSpace associated with this metric.

Implements aikido::distance::DistanceMetric.

Member Data Documentation

mStateSpace

std::shared_ptr<const statespace::SE2> aikido::distance::SE2Weighted::mStateSpace

private

mWeights

Eigen::Vector2d aikido::distance::SE2Weighted::mWeights

private