#include <ManhattanDistance.h>

Inheritance diagram for ManhattanDistance:

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Collaboration diagram for ManhattanDistance:

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Public Member Functions
Construction
	ManhattanDistance (bool _normalize=false)

	ManhattanDistance (XMLNode &_node)

virtual	~ManhattanDistance ()=default

Public Member Functions inherited from MinkowskiDistance
	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

Public Member Functions inherited from DistanceMetricMethod
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

void	ScaleCfg (double _length, Cfg &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

virtual void	Initialize ()

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Additional Inherited Members
Public Types inherited from MinkowskiDistance
typedef MPBaseObject::GroupCfgType	GroupCfgType

Public Types inherited from DistanceMetricMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Protected Member Functions inherited from MinkowskiDistance
double	PositionDistance (const Cfg &_c)

double	OrientationDistance (const Cfg &_c)

Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Protected Attributes inherited from MinkowskiDistance
double	m_r1 {3}
	For position part. More...

double	m_r2 {3}
	For rotation part. More...

double	m_r3 {1. / 3.}
	For calculating root. More...

bool	m_normalize {false}
	Normalize distance w.r.t. environment? More...

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Compute the Manhattan distance between two configurations.

The Manhattan distance requires that each basis of the configuration space be traversed separately. Its name is analogous to how one moves around the city of Manhattan by following the streets rather than flying over the buildings.

Constructor & Destructor Documentation

◆ ManhattanDistance() [1/2]

ManhattanDistance::ManhattanDistance ( bool _normalize = false )

◆ ManhattanDistance() [2/2]

ManhattanDistance::ManhattanDistance ( XMLNode & _node )

◆ ~ManhattanDistance()

virtual ManhattanDistance::~ManhattanDistance ( )

virtualdefault

The documentation for this class was generated from the following files:

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/ManhattanDistance.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/ManhattanDistance.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ManhattanDistance() [1/2]

◆ ManhattanDistance() [2/2]

◆ ~ManhattanDistance()