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annotate trajectorymanagement/src/EuclideanMetric.h @ 1270:20a5e1292321
added smoothing functions and velocity generation to dltrack
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 10 Jun 2024 16:44:19 -0400 |
parents | e1e7acef8eab |
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1 #ifndef EUCLIDIANMETRIC_H_ |
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2 #define EUCLIDIANMETRIC_H_ |
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3 |
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4 #include "SquaredEuclideanMetric.h" |
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5 #include "TrajectoryExceptions.h" |
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6 |
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7 /** |
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8 * EuclideanMetric class. |
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9 * |
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10 * The Euclidean metric measures the distance between two trajectories. |
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11 */ |
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12 template<typename Tr, typename To> |
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13 class EuclideanMetric: public Metric<Tr, To> |
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14 { |
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15 public: |
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16 /** |
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17 * Constructor. |
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18 */ |
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19 EuclideanMetric() |
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20 { |
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21 squaredEuclideanMetric = new SquaredEuclideanMetric<Tr, To> (); |
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22 } |
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23 |
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24 /** |
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25 * Destructor. |
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26 */ |
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27 ~EuclideanMetric() |
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28 { |
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29 delete squaredEuclideanMetric; |
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30 } |
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31 |
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32 /** |
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33 * Compute distance between two trajectories. |
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34 * |
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35 * @param[in] a input trajectory |
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36 * @param[in] b input trajectory |
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37 * @param[out] result distance between two trajectories |
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38 */ |
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39 void distance(const Trajectory<Tr> *a, const Trajectory<Tr> *b, To &result, unsigned int nbOfPoints = std::numeric_limits<unsigned int>::max()) |
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40 { |
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41 To diff = To(0); |
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42 |
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43 squaredEuclideanMetric->distance(a, b, diff, nbOfPoints); |
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44 |
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45 diff = sqrt(diff); |
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46 |
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47 result = diff; |
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48 } |
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49 |
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50 private: |
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51 /** |
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52 * Pointer to a SquaredEuclideanMetric class. |
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53 */ |
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54 Metric<Tr, To> *squaredEuclideanMetric; |
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55 }; |
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56 |
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57 #endif /* EUCLIDIANMETRIC_H_ */ |