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 218 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 |
|
inline |
Definition at line 237 of file TMoveTree.h.
|
inline |
Definition at line 220 of file TMoveTree.h.
References nanoflann::abs(), mrpt::nav::TNodeSE2_TP::state, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.
|
inline |
Definition at line 226 of file TMoveTree.h.
References mrpt::poses::CPose2D::inverseComposeFrom(), mrpt::nav::TNodeSE2_TP::state, mrpt::poses::UNINITIALIZED_POSE, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
|
private |
Definition at line 239 of file TMoveTree.h.
Page generated by Doxygen 1.8.16 for MRPT 1.4.0 SVN: at Mon Oct 14 22:32:58 UTC 2019 |