hpp::core::WeighedDistance Class Reference

Weighed distance between configurations. More...

#include <hpp/core/weighed-distance.hh>

Inheritance diagram for hpp::core::WeighedDistance:

Collaboration diagram for hpp::core::WeighedDistance:

Public Member Functions
virtual DistancePtr_t	clone () const
value_type	getWeight (size_type rank) const
	Get weight of joint at given rank. More...
void	setWeight (size_type rank, value_type weight)
	Set weight of joint at given rank. More...
const vector_t &	weights () const
	Get weights. More...
void	weights (const vector_t &ws)
	Set weights. More...
size_type	size () const
	Get size of weight vector. More...
const DevicePtr_t &	robot () const
	Get robot. More...
Public Member Functions inherited from hpp::core::Distance
value_type	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
value_type	operator() (NodePtr_t n1, NodePtr_t n2) const
value_type	compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
value_type	compute (NodePtr_t n1, NodePtr_t n2) const
virtual	~Distance ()

Static Public Member Functions
static WeighedDistancePtr_t	createFromProblem (const Problem &problem)
static WeighedDistancePtr_t	create (const DevicePtr_t &robot)
static WeighedDistancePtr_t	createWithWeight (const DevicePtr_t &robot, const vector_t &weights)
static WeighedDistancePtr_t	createCopy (const WeighedDistancePtr_t &distance)

Protected Member Functions
	WeighedDistance (const Problem &problem)
	WeighedDistance (const DevicePtr_t &robot)
	WeighedDistance (const DevicePtr_t &robot, const vector_t &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. More...
Protected Member Functions inherited from hpp::core::Distance
	Distance ()
virtual value_type	impl_distance (NodePtr_t n1, NodePtr_t n2) const

Detailed Description

Weighed distance between configurations.

Euclidean distance between configurations seen as vectors. Each degree of freedom is weighed by a positive value.

Constructor & Destructor Documentation

hpp::core::WeighedDistance::WeighedDistance ( const Problem &  problem )

protected

hpp::core::WeighedDistance::WeighedDistance ( const DevicePtr_t &  robot )

protected

hpp::core::WeighedDistance::WeighedDistance ( const DevicePtr_t &  robot, const vector_t &  weights  )

protected

hpp::core::WeighedDistance::WeighedDistance ( const WeighedDistance &  distance )

protected

Member Function Documentation

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::createCopy ( const WeighedDistancePtr_t &  distance )

static

static WeighedDistancePtr_t hpp::core::WeighedDistance::createFromProblem ( const Problem &  problem )

static

static WeighedDistancePtr_t hpp::core::WeighedDistance::createWithWeight ( const DevicePtr_t &  robot, const vector_t &  weights  )

static

value_type hpp::core::WeighedDistance::getWeight

(

size_type

rank

)

const

Get weight of joint at given rank.

Parameters

rank	rank of the joint in robot joint vector

virtual value_type hpp::core::WeighedDistance::impl_distance ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

protectedvirtual

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	(	size_type	rank,
		value_type	weight
	)

Set weight of joint at given rank.

Parameters

rank	rank of the joint in robot joint vector

size_type hpp::core::WeighedDistance::size ( ) const

inline

Get size of weight vector.

const vector_t& hpp::core::WeighedDistance::weights

(

)

const

Get weights.

void hpp::core::WeighedDistance::weights

(

const vector_t &

ws

)

Set weights.