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annotate trajectorymanagement/src/HuMetric.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 HUMETRIC_H_ |
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2 #define HUMETRIC_H_ |
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3 |
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4 #include "EuclideanMetric.h" |
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5 |
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6 #include "TrajectoryExceptions.h" |
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7 |
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8 /** |
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9 * HuMetric class. |
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10 * |
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11 * The Hu metric measures the normalized distance between two trajectories. |
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12 */ |
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13 template<typename Tr, typename To> |
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14 class HuMetric: public Metric<Tr, To> |
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15 { |
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16 public: |
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17 /** |
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18 * Constructor. |
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19 */ |
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20 HuMetric() |
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21 { |
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22 euclideanMetric = new EuclideanMetric<Tr,To> (); |
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23 } |
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24 |
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25 /** |
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26 * Destructor. |
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27 */ |
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28 ~HuMetric() |
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29 { |
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30 delete euclideanMetric; |
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31 } |
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32 |
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33 /** |
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34 * Compute normalized distance between two trajectories. |
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35 * |
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36 * @param[in] a input trajectory |
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37 * @param[in] b input trajectory |
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38 * @param[out] result distance between two trajectories |
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39 */ |
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40 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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41 { |
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42 To diff = To(0); |
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43 |
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44 euclideanMetric->distance(a, b, diff, nbOfPoints); |
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45 |
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46 diff /= To(a->size() * 2); |
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47 |
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48 result = diff; |
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49 } |
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50 |
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51 private: |
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52 /** |
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53 * Pointer to EuclideanMetric class. |
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54 */ |
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55 Metric<Tr, To> *euclideanMetric; |
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56 }; |
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57 |
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58 #endif /* HUMETRIC_H_ */ |