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annotate trajectorymanagement/src/MinimumMetric.h @ 1222:69b531c7a061

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added methods to reset trajectories and change object coordinates (including features)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 20 Jun 2023 15:42:19 -0400
parents e1e7acef8eab
children
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1 #ifndef MINIMUMMETRIC_H_
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2 #define MINIMUMMETRIC_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 * MinimumMetric class.
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10 *
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11 * The Minimum metric measures the similarity between two trajectories.
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12 * This class represents the smallest distance all 3 dimensions, for ALL points.
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13 *
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14 */
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15 template<typename Tr, typename To>
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16 class MinimumMetric: public Metric<Tr, To>
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17 {
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18 public:
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19 /**
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20 * Compute similarity between two trajectories.
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21 *
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22 * @param[in] a input trajectory
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23 * @param[in] b input trajectory
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24 * @param[out] result distance between two trajectories
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25 */
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26 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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27 {
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28 result = To(0);
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29
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30 if (nbOfPoints == std::numeric_limits<unsigned int>::max())
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31 checkTrajectoryLength(a->size(), b->size());
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32
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33 To diff = abs((a->getPoint(0) - b->getPoint(0)).x);//est-ce que ça fait vraiment une différence de x ?
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34 for (unsigned int i = 0; i < a->size() and i < nbOfPoints; ++i)
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35 {
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36 cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> p(a->getPoint(i) - b->getPoint(i));
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37 diff = std::min(diff, abs(p.x));
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38 diff = std::min(diff, abs(p.y));
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39 if (dim(a->getPoint(i)) == 3)
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40 {
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41 diff = std::min(diff, abs(p.z));
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42 }
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43 }
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44
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45 result = diff;
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46 }
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47
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48 private:
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49 /**
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50 * Check the length of the trajectories.
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51 *
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52 * @param[in] a the size of the trajectory
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53 * @param[in] b the size of the trajectory
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54 */
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55 void checkTrajectoryLength(size_t a, size_t b) const
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56 {
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57 if (a != b || a == 0)
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58 {
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59 throw TrajectoryLengthErrorException();
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60 }
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61 }
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62 };
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63
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64 #endif /* MINIMUMMETRIC_H_ */