Weighed distance between configurations. More...
#include <hpp/core/weighed-distance.hh>
Public Member Functions | |
virtual DistancePtr_t | clone () const |
value_type | getWeight (int rank) const |
Get weight of joint at given rank. | |
void | setWeight (unsigned int rank, value_type weight) |
Set weight of joint at given rank. | |
const DevicePtr_t & | robot () const |
Get robot. | |
Static Public Member Functions | |
static WeighedDistancePtr_t | create (const DevicePtr_t &robot) |
static WeighedDistancePtr_t | create (const DevicePtr_t &robot, const std::vector< value_type > &weights) |
static WeighedDistancePtr_t | createCopy (const WeighedDistancePtr_t &distance) |
Protected Member Functions | |
WeighedDistance (const DevicePtr_t &robot) | |
WeighedDistance (const DevicePtr_t &robot, const std::vector< value_type > &weights) | |
WeighedDistance (const WeighedDistance &distance) | |
void | init (WeighedDistanceWkPtr_t self) |
virtual value_type | impl_distance (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
Derived class should implement this function. |
Weighed distance between configurations.
Euclidean distance between configurations seen as vectors. Each degree of freedom is weighed by a positive value.
hpp::core::WeighedDistance::WeighedDistance | ( | const DevicePtr_t & | robot | ) | [protected] |
hpp::core::WeighedDistance::WeighedDistance | ( | const DevicePtr_t & | robot, |
const std::vector< value_type > & | weights | ||
) | [protected] |
hpp::core::WeighedDistance::WeighedDistance | ( | const WeighedDistance & | distance | ) | [protected] |
virtual DistancePtr_t hpp::core::WeighedDistance::clone | ( | ) | const [virtual] |
Implements hpp::core::Distance.
static WeighedDistancePtr_t hpp::core::WeighedDistance::create | ( | const DevicePtr_t & | robot | ) | [static] |
static WeighedDistancePtr_t hpp::core::WeighedDistance::create | ( | const DevicePtr_t & | robot, |
const std::vector< value_type > & | weights | ||
) | [static] |
static WeighedDistancePtr_t hpp::core::WeighedDistance::createCopy | ( | const WeighedDistancePtr_t & | distance | ) | [static] |
value_type hpp::core::WeighedDistance::getWeight | ( | int | rank | ) | const |
Get weight of joint at given rank.
rank | rank of the joint in robot joint vector |
virtual value_type hpp::core::WeighedDistance::impl_distance | ( | ConfigurationIn_t | q1, |
ConfigurationIn_t | q2 | ||
) | const [protected, virtual] |
Derived class should implement this function.
Implements hpp::core::Distance.
void hpp::core::WeighedDistance::init | ( | WeighedDistanceWkPtr_t | self | ) | [protected] |
const DevicePtr_t& hpp::core::WeighedDistance::robot | ( | ) | const [inline] |
Get robot.
void hpp::core::WeighedDistance::setWeight | ( | unsigned int | rank, |
value_type | weight | ||
) |
Set weight of joint at given rank.
rank | rank of the joint in robot joint vector |