CartesianProductWeighted.hpp

Go to the documentation of this file.

#ifndef AIKIDO_DISTANCE_CARTESIANPRODUCTWEIGHTED_HPP_
#define AIKIDO_DISTANCE_CARTESIANPRODUCTWEIGHTED_HPP_
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/statespace/CartesianProduct.hpp"
 
namespace aikido {
namespace distance {
 
class CartesianProductWeighted : public DistanceMetric
{
public:
  CartesianProductWeighted(
      std::shared_ptr<const statespace::CartesianProduct> _space,
      std::vector<DistanceMetricPtr> _metrics);
 
  CartesianProductWeighted(
      std::shared_ptr<statespace::CartesianProduct> _space,
      std::vector<std::pair<DistanceMetricPtr, double>> _metrics);
 
  // Documentation inherited
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  double distance(
      const statespace::StateSpace::State* _state1,
      const statespace::StateSpace::State* _state2) const override;
 
private:
  std::shared_ptr<const statespace::CartesianProduct> mStateSpace;
  std::vector<std::pair<DistanceMetricPtr, double>> mMetrics;
};
 
} // namespace distance
} // namespace aikido
 
#endif