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)

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

template <>
struct PoseDistanceMetric<TNodeSE2_TP>
{
    // construction

    PoseDistanceMetric(const mrpt::nav::CParameterizedTrajectoryGenerator& ptg);

    //
methods

    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;
};