mpp::PoseDistanceMetric_Lie< SE2_KinState > Struct Template Reference

#include <mpp/data/MotionPrimitivesTree.h>

Public Member Functions
	PoseDistanceMetric_Lie (const double phiWeight)
bool	cannotBeNearerThan (const mrpt::math::TPose2D &a, const mrpt::math::TPose2D &b, const distance_t d) const
distance_t	distance (const mrpt::math::TPose2D &src, const mrpt::math::TPose2D &dst) const

Private Attributes
double	phiWeight_ = 0.1

Detailed Description

template<>
struct mpp::PoseDistanceMetric_Lie< SE2_KinState >

Pose metric for SE(2) on the actual Lie group, i.e. NOT limited to a given PTG manifold, and ignoring velocities.

Constructor & Destructor Documentation

PoseDistanceMetric_Lie()

mpp::PoseDistanceMetric_Lie< SE2_KinState >::PoseDistanceMetric_Lie ( const double  phiWeight )

inline

Member Function Documentation

cannotBeNearerThan()

bool mpp::PoseDistanceMetric_Lie< SE2_KinState >::cannotBeNearerThan ( const mrpt::math::TPose2D &  a, const mrpt::math::TPose2D &  b, const distance_t  d  ) const

inline

distance()

distance_t mpp::PoseDistanceMetric_Lie< SE2_KinState >::distance ( const mrpt::math::TPose2D &  src, const mrpt::math::TPose2D &  dst  ) const

inline

Member Data Documentation

phiWeight_

double mpp::PoseDistanceMetric_Lie< SE2_KinState >::phiWeight_ = 0.1

private

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The documentation for this struct was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/MotionPrimitivesTree.h