mpp::PoseDistanceMetric_TPS< SE2_KinState > Struct Template Reference

#include <mpp/data/MotionPrimitivesTree.h>

Public Member Functions
	PoseDistanceMetric_TPS (ptg_t &ptg, const double headingTolerance)
bool	cannotBeNearerThan (const SE2_KinState &a, const mrpt::math::TPose2D &b, const distance_t d) const
std::optional< std::tuple< distance_t, trajectory_index_t > >	distance (const SE2_KinState &src, const mrpt::math::TPose2D &dst, bool ignoreDstHeading) const

Private Attributes
ptg_t &	ptg_
const double	headingTolerance_

Detailed Description

template<>
struct mpp::PoseDistanceMetric_TPS< SE2_KinState >

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)

Constructor & Destructor Documentation

PoseDistanceMetric_TPS()

mpp::PoseDistanceMetric_TPS< SE2_KinState >::PoseDistanceMetric_TPS ( ptg_t &  ptg, const double  headingTolerance  )

inline

Member Function Documentation

cannotBeNearerThan()

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

inline

distance()

std::optional<std::tuple<distance_t, trajectory_index_t> > mpp::PoseDistanceMetric_TPS< SE2_KinState >::distance ( const SE2_KinState &  src, const mrpt::math::TPose2D &  dst, bool  ignoreDstHeading  ) const

inline

Member Data Documentation

headingTolerance_

const double mpp::PoseDistanceMetric_TPS< SE2_KinState >::headingTolerance_

private

ptg_

ptg_t& mpp::PoseDistanceMetric_TPS< SE2_KinState >::ptg_

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