MetricFactory Class Reference

Metric constructor functions. More...

#include <MetricFactory.hpp>

Static Public Member Functions
template<class VectorType >
static Metric< VectorType >::Ptr	makeEuclidean ()
	Euclidean configuration metric. More...
template<class VectorType >
static Metric< VectorType >::Ptr	makeWeightedEuclidean (const VectorType &weights)
	Weighted Euclidean configuration metric. More...
template<class VectorType >
static Metric< VectorType >::Ptr	makeInfinity ()
	Infinity configuration metric. More...
template<class VectorType >
static Metric< VectorType >::Ptr	makeWeightedInfinity (const VectorType &weights)
	Weighted infinity configuration metric. More...
template<class VectorType >
static Metric< VectorType >::Ptr	makeMahalanobis (const Eigen::Matrix< typename VectorType::value_type, Eigen::Dynamic, 1 > &omega)
	Mahalanobis configuration metric. More...
template<class VectorType >
static Metric< VectorType >::Ptr	makeManhattan ()
	Manhattan configuration metric. More...
template<class VectorType >
static rw::core::Ptr< rw::math::Metric< VectorType > >	makeWeightedManhattan (const VectorType &weights)
	WeightedManhattan configuration metric. More...
template<class T >
static rw::core::Ptr< rw::math::Metric< rw::math::Rotation3D< T > > >	makeRotation3DMetric ()
	Metric computing distance between two rotations. More...
template<class T >
static rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< T > > >	makeTransform3DMetric (double linWeight, double angWeight)
	Metric computing distance between two transformations. More...

Detailed Description

Metric constructor functions.

The constructor functions are parameterized by a type of vector. Valid vector types include:

• Q
• Vector2D<double>
• Vector3D<double>
• std::vector<double>
• Eigen::VectorXd

Member Function Documentation

makeEuclidean()

static Metric<VectorType>::Ptr makeEuclidean ( )

inlinestatic

Euclidean configuration metric.

See class EuclideanMetric for details.

makeInfinity()

static Metric<VectorType>::Ptr makeInfinity ( )

inlinestatic

Infinity configuration metric.

See class InfinityMetric for details.

makeMahalanobis()

static Metric<VectorType>::Ptr makeMahalanobis ( const Eigen::Matrix< typename VectorType::value_type, Eigen::Dynamic, 1 > &  omega )

inlinestatic

Mahalanobis configuration metric.

See class MahalanobisMetric for details.

makeManhattan()

static Metric<VectorType>::Ptr makeManhattan ( )

inlinestatic

Manhattan configuration metric.

See class ManhattanMetric for details.

makeRotation3DMetric()

static rw::core::Ptr<rw::math::Metric<rw::math::Rotation3D<T> > > makeRotation3DMetric ( )

inlinestatic

Metric computing distance between two rotations.

The metric is defined as the angle of the rw::math::EAA of the rotation.

makeTransform3DMetric()

static rw::core::Ptr<rw::math::Metric<rw::math::Transform3D<T> > > makeTransform3DMetric ( double  linWeight, double  angWeight  )

inlinestatic

Metric computing distance between two transformations.

The metric is defined as a weighted sum of the positional distance and the angle of the rw::math::EAA of the rotation.

Parameters

linWeight	[in] Positional weight.
angWeight	[in] Angular weight.

makeWeightedEuclidean()

static Metric<VectorType>::Ptr makeWeightedEuclidean ( const VectorType &  weights )

inlinestatic

Weighted Euclidean configuration metric.

See class WeightedEuclideanMetric for details.

Parameters

weights

[in] Weights for the metric.

Returns

Weighted Euclidean metric.

makeWeightedInfinity()

static Metric<VectorType>::Ptr makeWeightedInfinity ( const VectorType &  weights )

inlinestatic

Weighted infinity configuration metric.

See class WeightedInfinity for details.

Parameters

weights

[in] Weights for the metric.

Returns

Weighted infinity metric.

makeWeightedManhattan()

static rw::core::Ptr<rw::math::Metric<VectorType> > makeWeightedManhattan ( const VectorType &  weights )

inlinestatic

WeightedManhattan configuration metric.

See class WeightedManhattanMetric for details.

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The documentation for this class was generated from the following file:

• MetricFactory.hpp