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annotate trajectorymanagement/src/ChebyshevMetric.h @ 1250:77fbd0e2ba7d

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 15 Feb 2024 22:04:35 -0500
parents e1e7acef8eab
children
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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_ */