mrpt::nav::PoseDistanceMetric< TNodeSE2_TP > Struct Template Reference

Detailed Description

template<>
struct mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >

Pose metric for SE(2) limited to a given PTG manifold.

NOTE: This 'metric' is NOT symmetric for all PTGs: d(a,b)!=d(b,a)

Definition at line 253 of file TMoveTree.h.

#include <mrpt/nav/planners/TMoveTree.h>

Public Member Functions
bool	cannotBeNearerThan (const TNodeSE2_TP &a, const TNodeSE2_TP &b, const double d) const
double	distance (const TNodeSE2_TP &src, const TNodeSE2_TP &dst) const
	PoseDistanceMetric (const mrpt::nav::CParameterizedTrajectoryGenerator &ptg)

Private Attributes
const mrpt::nav::CParameterizedTrajectoryGenerator &	m_ptg

Constructor & Destructor Documentation

PoseDistanceMetric()

mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::PoseDistanceMetric ( const mrpt::nav::CParameterizedTrajectoryGenerator &  ptg )

inline

Definition at line 278 of file TMoveTree.h.

Member Function Documentation

cannotBeNearerThan()

bool mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::cannotBeNearerThan ( const TNodeSE2_TP &  a, const TNodeSE2_TP &  b, const double  d  ) const

inline

Definition at line 255 of file TMoveTree.h.

References mrpt::nav::TNodeSE2_TP::state, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

distance()

double mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance ( const TNodeSE2_TP &  src, const TNodeSE2_TP &  dst  ) const

inline

Definition at line 262 of file TMoveTree.h.

References mrpt::poses::CPose2D::inverseComposeFrom(), mrpt::nav::TNodeSE2_TP::state, mrpt::poses::UNINITIALIZED_POSE, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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Member Data Documentation

m_ptg

const mrpt::nav::CParameterizedTrajectoryGenerator& mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::m_ptg

private

Definition at line 284 of file TMoveTree.h.