MRPT  1.9.9
List of all members | Public Member Functions
mrpt::nav::PoseDistanceMetric< TNodeSE2 > Struct Template Reference

Detailed Description

template<>
struct mrpt::nav::PoseDistanceMetric< TNodeSE2 >

Pose metric for SE(2)

Definition at line 223 of file TMoveTree.h.

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

Public Member Functions

bool cannotBeNearerThan (const TNodeSE2 &a, const TNodeSE2 &b, const double d) const
 
double distance (const TNodeSE2 &a, const TNodeSE2 &b) const
 
 PoseDistanceMetric ()=default
 

Constructor & Destructor Documentation

◆ PoseDistanceMetric()

Member Function Documentation

◆ cannotBeNearerThan()

bool mrpt::nav::PoseDistanceMetric< TNodeSE2 >::cannotBeNearerThan ( const TNodeSE2 a,
const TNodeSE2 b,
const double  d 
) const
inline

◆ distance()

double mrpt::nav::PoseDistanceMetric< TNodeSE2 >::distance ( const TNodeSE2 a,
const TNodeSE2 b 
) const
inline

Definition at line 233 of file TMoveTree.h.

References mrpt::math::angDistance(), mrpt::math::TPose2D::phi, mrpt::square(), mrpt::nav::TNodeSE2::state, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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