#include <ScaledEuclideanDistance.h>

Inheritance diagram for ScaledEuclideanDistance:

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Collaboration diagram for ScaledEuclideanDistance:

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Public Member Functions
Construction
	ScaledEuclideanDistance ()

	ScaledEuclideanDistance (XMLNode &_node)

virtual	~ScaledEuclideanDistance ()=default

MPBaseObject Overrides
virtual void	Print (ostream &_os) const override

Distance Interface
virtual double	Distance (const Cfg &_c1, const Cfg &_c2) override

Public Member Functions inherited from EuclideanDistance
	EuclideanDistance (bool _normalize=false)

	EuclideanDistance (XMLNode &_node)

virtual	~EuclideanDistance ()=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	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 Attributes
Internal State
double	m_scale {.5}
	The ratio of positional to rotational weighting. More...

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...

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

Detailed Description

A Euclidean distance that supports non-uniform weighting of the positional and rotational components. Joint components are lumped in with orientation.

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

Todo:: Replace with WeightedEuclidean, which full encompases this class and offers more functionality.

Constructor & Destructor Documentation

◆ ScaledEuclideanDistance() [1/2]

ScaledEuclideanDistance::ScaledEuclideanDistance ( )

◆ ScaledEuclideanDistance() [2/2]

ScaledEuclideanDistance::ScaledEuclideanDistance ( XMLNode & _node )

◆ ~ScaledEuclideanDistance()

virtual ScaledEuclideanDistance::~ScaledEuclideanDistance ( )

virtualdefault

Member Function Documentation

◆ Distance()

double ScaledEuclideanDistance::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.

Reimplemented from MinkowskiDistance.

◆ Print()

void ScaledEuclideanDistance::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MinkowskiDistance.

Field Documentation

◆ m_scale

double ScaledEuclideanDistance::m_scale {.5}

protected

The ratio of positional to rotational weighting.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members