RobWorkProject
24.8.23-
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A metric for calculating plane-to-plane distance. More...
#include <Plane.hpp>
Inherits Metric< rw::geometry::Plane >.
Public Member Functions | |
PlaneMetric (double angToDistWeight=1.0) | |
Constructor. More... | |
Public Member Functions inherited from Metric< rw::geometry::Plane > | |
virtual | ~Metric () |
Destructor. | |
scalar_type | distance (const value_type &q) const |
The distance from the zero element to q. | |
scalar_type | distance (const value_type &a, const value_type &b) const |
The distance from element a to b. More... | |
int | size () const |
The dimension of elements on which this metric operates. More... | |
Protected Member Functions | |
double | doDistance (const Plane &q) const |
Calculates distance from the plane to reference plane (X-Y surface) | |
double | doDistance (const Plane &a, const Plane &b) const |
Calculates distance between two planes. More... | |
int | doSize () const |
The dimension of elements on which this metric operates. More... | |
Protected Member Functions inherited from Metric< rw::geometry::Plane > | |
Metric () | |
Protected constructor called by subclassed. | |
Metric (const Metric &) | |
Disable copying of superclass. | |
Metric & | operator= (const Metric &) |
Disable assignment of superclass. | |
Protected Attributes | |
double | _angToDistWeight |
Additional Inherited Members | |
Public Types inherited from Metric< rw::geometry::Plane > | |
typedef rw::geometry::Plane | value_type |
The type of element on which the metric operates. | |
typedef T::value_type | scalar_type |
The type of the scalar. | |
typedef rw::core::Ptr< Metric< rw::geometry::Plane > > | Ptr |
A pointer to a Metric<T>. | |
typedef rw::core::Ptr< const Metric< rw::geometry::Plane > > | CPtr |
A pointer to a const Metric<T>. | |
A metric for calculating plane-to-plane distance.
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inline |
Constructor.
angToDistWeight | [in] weighting of angle compared to linear distance. |
Calculates distance between two planes.
The distance is calculated according to formula:
val = 0.5*angle(p1.normal, p2.normal)*angToDistWeight + 0.5*fabs(p1.d-p2.d);
Angle is normalized, so that planes with opposite normals are treated as the same plane.
Implements Metric< rw::geometry::Plane >.
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inlineprotectedvirtual |
The dimension of elements on which this metric operates.
The returns -1 if the elements don't have a measure of dimension or if the metric works for elements of all dimensions.
Reimplemented from Metric< rw::geometry::Plane >.
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protected |
weighting | of angle compared to linear distance. |