MinkowskiDistance.h

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#ifndef PMPL_MINKOWSKI_DISTANCE_H_
#define PMPL_MINKOWSKI_DISTANCE_H_
 
#include "DistanceMetricMethod.h"
 
#include "MPProblem/Environment/Environment.h"
 
 
class MinkowskiDistance : virtual public DistanceMetricMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType  GroupCfgType;
 
 
    MinkowskiDistance(double _r1 = 3, double _r2 = 3, double _r3 = 1. / 3,
        bool _normalize = false);
 
    MinkowskiDistance(XMLNode& _node);
 
    virtual ~MinkowskiDistance() = default;
 
 
    virtual void Print(std::ostream& _os) const;
 
 
    virtual double Distance(const Cfg& _c1, const Cfg& _c2) override;
 
    virtual void ScaleCfg(double _length, Cfg& _c, const Cfg& _o)
        override;
 
 
  protected:
 
 
    double PositionDistance(const Cfg& _c);
    double OrientationDistance(const Cfg& _c);
 
 
    double m_r1{3};          
    double m_r2{3};          
    double m_r3{1. / 3.};    
    bool m_normalize{false}; 
 
};
 
#endif