WeightedEuclideanDistance Class Reference

#include <WeightedEuclideanDistance.h>

Inheritance diagram for WeightedEuclideanDistance:

Collaboration diagram for WeightedEuclideanDistance:

Public Member Functions
Construction
	WeightedEuclideanDistance ()
	WeightedEuclideanDistance (XMLNode &_node)
	WeightedEuclideanDistance (const double _pos, const double _rot, const double _vel, const double _avl)
virtual	~WeightedEuclideanDistance ()=default
Distance Interface
virtual double	Distance (const Cfg &_c1, const Cfg &_c2) 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
virtual void	ScaleCfg (double _length, Cfg &_c, const Cfg &_o)
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...

Protected Attributes
Internal State
double	m_posW {.25}
	Position weight. More...
double	m_rotW {.25}
	Rotation weight. More...
double	m_velW {.25}
	Linear velocity weight. More...
double	m_avlW {.25}
	Angular velocity weight. More...
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? 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

Detailed Description

Weighted Euclidean distance in State space will have four weight components: position, rotation, velocity, and angular velocity.

Todo:

This doesn't work properly for linked robots. An additional weighting is required for the joint space, which is currently wrapped up with orientation.

Constructor & Destructor Documentation

WeightedEuclideanDistance() [1/3]

WeightedEuclideanDistance::WeightedEuclideanDistance

(

)

WeightedEuclideanDistance() [2/3]

WeightedEuclideanDistance::WeightedEuclideanDistance

(

XMLNode &

_node

)

WeightedEuclideanDistance() [3/3]

WeightedEuclideanDistance::WeightedEuclideanDistance	(	const double	_pos,
		const double	_rot,
		const double	_vel,
		const double	_avl
	)

~WeightedEuclideanDistance()

virtual WeightedEuclideanDistance::~WeightedEuclideanDistance ( )

virtualdefault

Member Function Documentation

Distance()

double WeightedEuclideanDistance::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.

Field Documentation

m_avlW

double WeightedEuclideanDistance::m_avlW {.25}

protected

Angular velocity weight.

m_posW

double WeightedEuclideanDistance::m_posW {.25}

protected

Position weight.

m_rotW

double WeightedEuclideanDistance::m_rotW {.25}

protected

Rotation weight.

m_velW

double WeightedEuclideanDistance::m_velW {.25}

protected

Linear velocity weight.

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