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annotate trajectorymanagement/src/ChebyshevMetric.h @ 1176:5874ece33637
reorganized fundamental diagram and added triangular
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 17 Feb 2022 10:55:11 -0500 |
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1 #ifndef CHEBYSHEVMETRIC_H_ |
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2 #define CHEBYSHEVMETRIC_H_ |
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3 |
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4 #include "Metric.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 * ChebyshevMetric class. |
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10 * |
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11 * The Chebyshev metric measures the similarity between two trajectories. |
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12 * This metric represents the largest distance of all points in every dimension. Expressed in meters. |
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13 */ |
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14 template<typename Tr, typename To> |
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15 class ChebyshevMetric: public Metric<Tr, To> |
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16 { |
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17 public: |
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18 /** |
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19 * Compute distance between two trajectories. |
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20 * |
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21 * @param[in] a input trajectory |
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22 * @param[in] b input trajectory |
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23 * @param[out] result distance between two trajectories |
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24 */ |
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25 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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26 { |
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27 result = To(0); |
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28 |
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29 if (nbOfPoints == std::numeric_limits<unsigned int>::max()) |
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30 checkTrajectoryLength(a->size(), b->size()); |
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31 |
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32 To diff = abs((a->getPoint(0) - b->getPoint(0)).x); |
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33 for (unsigned int i = 0; i < a->size() and i < nbOfPoints ; ++i) |
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34 { |
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35 cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> p(a->getPoint(i) - b->getPoint(i)); |
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36 diff = std::max(diff, abs(p.x)); |
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37 diff = std::max(diff, abs(p.y)); |
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38 diff = std::max(diff, abs(p.z)); |
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39 } |
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40 |
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41 result = diff; |
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42 } |
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43 |
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44 private: |
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45 /** |
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46 * Check the length of the trajectories. |
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47 * |
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48 * @param[in] a the size of the trajectory |
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49 * @param[in] b the size of the trajectory |
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50 */ |
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51 void checkTrajectoryLength(size_t a, size_t b) const |
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52 { |
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53 if (a != b || a == 0) |
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54 { |
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55 throw TrajectoryLengthErrorException(); |
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56 } |
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57 } |
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58 }; |
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59 |
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60 #endif /* CHEBYSHEVMETRIC_H_ */ |