MRPT  1.9.9
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mrpt::nav::PoseDistanceMetric< TNodeSE2_TP > Struct Template Reference

Detailed Description

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::CParameterizedTrajectoryGeneratorm_ptg

Constructor & Destructor Documentation

◆ PoseDistanceMetric()

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

◆ distance()

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

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

Definition at line 284 of file TMoveTree.h.

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