RMSDDistance Class Reference

#include <RMSDDistance.h>

Inheritance diagram for RMSDDistance:

Collaboration diagram for RMSDDistance:

Public Member Functions
Construction
	RMSDDistance ()
	RMSDDistance (XMLNode &_node)
virtual	~RMSDDistance ()=default
Distance Interface
virtual double	Distance (const Cfg &_c1, const Cfg &_c2)
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	Print (std::ostream &_os) const
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 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 MPBaseObject
void	SetName (const std::string &_s)
const std::string &	GetBaseFilename () const
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Todo:

Properly document. This looks like a very complex way to assess RMS distance between body translations.

Constructor & Destructor Documentation

RMSDDistance() [1/2]

RMSDDistance::RMSDDistance

(

)

RMSDDistance() [2/2]

RMSDDistance::RMSDDistance

(

XMLNode &

_node

)

~RMSDDistance()

virtual RMSDDistance::~RMSDDistance ( )

virtualdefault

Member Function Documentation

Distance()

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

virtual

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.

ScaleCfg()

void RMSDDistance::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 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.

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

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