#include <MinkowskiDistance.h>

Inheritance diagram for MinkowskiDistance:

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Collaboration diagram for MinkowskiDistance:

Public Types
Local Types
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

Public Member Functions
Construction
	MinkowskiDistance (double _r1=3, double _r2=3, double _r3=1./3, bool _normalize=false)

	MinkowskiDistance (XMLNode &_node)

virtual	~MinkowskiDistance ()=default

MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const

DistanceMetricMethod Overrides
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...

Protected Member Functions
Helpers
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
Internal State
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

Minkowski distance is a generalized L-p norm where the exponents p and 1/p each have separate values.

Todo:: Remove m_r2, which isn't part of the Minkowski difference and doesn't have any valid use.

Todo:: Move the normalization option up to the base class.

Todo:: Separate the computation of orientation and joint distances.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType MinkowskiDistance::GroupCfgType

Constructor & Destructor Documentation

◆ MinkowskiDistance() [1/2]

MinkowskiDistance::MinkowskiDistance	(	double	_r1 = `3`,
		double	_r2 = `3`,
		double	_r3 = `1. / 3`,
		bool	_normalize = `false`
	)

◆ MinkowskiDistance() [2/2]

MinkowskiDistance::MinkowskiDistance ( XMLNode & _node )

◆ ~MinkowskiDistance()

virtual MinkowskiDistance::~MinkowskiDistance ( )

virtualdefault

Member Function Documentation

◆ Distance()

double MinkowskiDistance::Distance	(	const Cfg &	_c1,
		const Cfg &	_c2
	)

overridevirtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Implements DistanceMetricMethod.

Reimplemented in ScaledEuclideanDistance.

◆ OrientationDistance()

double MinkowskiDistance::OrientationDistance ( const Cfg & _c )

protected

◆ PositionDistance()

double MinkowskiDistance::PositionDistance ( const Cfg & _c )

protected

◆ Print()

void MinkowskiDistance::Print ( std::ostream & _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Reimplemented in ScaledEuclideanDistance.

◆ ScaleCfg()

void MinkowskiDistance::ScaleCfg	(	double	_length,
		Cfg &	_c,
		const Cfg &	_o
	)

overridevirtual

Scale a directional configuration to a certain magnitude.

Parameters

_length	Desired magnitude.
_c	Configuration to be scaled.
_o	Origin of scaling.

Todo:: This implementation is very poor. Scaling should be a constant-time operation - complexity should not depend on the length of the input vector.

Todo:: This is a very expensive way to scale a configuration. We should probably remove it and require derived classes to implement a more efficient function (this is the best we can do for a base class that does not know anything about the properties of the metric space).

Reimplemented from DistanceMetricMethod.

Field Documentation

◆ m_normalize

bool MinkowskiDistance::m_normalize {false}

protected

Normalize distance w.r.t. environment?

◆ m_r1

double MinkowskiDistance::m_r1 {3}

protected

For position part.

◆ m_r2

double MinkowskiDistance::m_r2 {3}

protected

For rotation part.

◆ m_r3

double MinkowskiDistance::m_r3 {1. / 3.}

protected

For calculating root.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

Constructor & Destructor Documentation

◆ MinkowskiDistance() [1/2]

◆ MinkowskiDistance() [2/2]

◆ ~MinkowskiDistance()

Member Function Documentation

◆ Distance()

◆ OrientationDistance()

◆ PositionDistance()

◆ Print()

◆ ScaleCfg()

Field Documentation

◆ m_normalize

◆ m_r1

◆ m_r2

◆ m_r3