SO2Angular.hpp

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#ifndef AIKIDO_DISTANCE_ANGULARDISTANCEMETRIC_HPP_
#define AIKIDO_DISTANCE_ANGULARDISTANCEMETRIC_HPP_
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/statespace/SO2.hpp"
 
namespace aikido {
namespace distance {
 
class SO2Angular : public DistanceMetric
{
public:
  explicit SO2Angular(std::shared_ptr<const statespace::SO2> _space);
 
  // 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::SO2> mStateSpace;
};
 
} // namespace distance
} // namespace aikido
 
#endif