19 #ifndef HPP_CORE_WEIGHED_DISTANCE_HH
20 # define HPP_CORE_WEIGHED_DISTANCE_HH
56 return weights_.size ();
69 void init (WeighedDistanceWkPtr_t
self);
76 void computeWeights ();
79 WeighedDistanceWkPtr_t weak_;
Abstract class for distance between configurations.
Definition: distance.hh:35
Definition: weighed-distance.hh:33
static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t &distance)
const DevicePtr_t & robot() const
Get robot.
Definition: weighed-distance.hh:60
static WeighedDistancePtr_t createFromProblem(const ProblemConstPtr_t &problem)
const vector_t & weights() const
Get weights.
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Derived class should implement this function.
value_type getWeight(size_type rank) const
WeighedDistance(const WeighedDistance &distance)
WeighedDistance(const DevicePtr_t &robot)
static WeighedDistancePtr_t createWithWeight(const DevicePtr_t &robot, const vector_t &weights)
virtual DistancePtr_t clone() const
WeighedDistance(const DevicePtr_t &robot, const vector_t &weights)
static WeighedDistancePtr_t create(const DevicePtr_t &robot)
void setWeight(size_type rank, value_type weight)
WeighedDistance(const ProblemConstPtr_t &problem)
void weights(const vector_t &ws)
Set weights.
size_type size() const
Get size of weight vector.
Definition: weighed-distance.hh:54
void init(WeighedDistanceWkPtr_t self)
WeighedDistance()
For serialization only.
Definition: weighed-distance.hh:74
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:208
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
Definition: bi-rrt-planner.hh:24