RobWorkProject
24.8.23-
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Mahalanobis distance metric for vector types. More...
#include <MetricFactory.hpp>
Inherits Metric< T >.
Public Member Functions | |
MahalanobisMetric (const BaseM &omega) | |
Constructs Mahalanobis metric object with the specified weights. More... | |
Public Member Functions inherited from Metric< T > | |
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... | |
Additional Inherited Members | |
Public Types inherited from Metric< T > | |
typedef T | 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< T > > | Ptr |
A pointer to a Metric<T>. | |
typedef rw::core::Ptr< const Metric< T > > | CPtr |
A pointer to a const Metric<T>. | |
Protected Member Functions inherited from Metric< T > | |
Metric () | |
Protected constructor called by subclassed. | |
Metric (const Metric &) | |
Disable copying of superclass. | |
Metric & | operator= (const Metric &) |
Disable assignment of superclass. | |
Mahalanobis distance metric for vector types.
The Mahalonabis distance between two vectors \(\mathbf{a}\) and \(\mathbf{b}\) both in \(\mathbb{R}^n\) are defined as \(d=\sqrt{(\mathbf{a}-\mathbf{b})^T \mathbf{\Omega} (\mathbf{a}-\mathbf{b})}\) where \(\mathbf{\Omega}\in \mathbb{R}^{n\times n}\).
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inline |
Constructs Mahalanobis metric object with the specified weights.
omega | [in] the weights \(\mathbf{\Omega}\) |