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annotate trajectorymanagement/src/SquaredEuclideanMetric.h @ 1219:8a626226793e

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update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 19 Jun 2023 17:09:56 -0400
parents e1e7acef8eab
children
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1 #ifndef SQUAREDEUCLIDIANMETRIC_H_
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2 #define SQUAREDEUCLIDIANMETRIC_H_
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3 #include "Metric.h"
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4 #include "TrajectoryExceptions.h"
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5
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6 /**
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7 * SquaredEuclideanMetric class.
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8 *
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9 * The Squared Euclidean metric measures the similarity between two trajectories.
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10 */
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11 template<typename Tr, typename To>
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12 class SquaredEuclideanMetric: public Metric<Tr, To>
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13 {
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14 public:
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15 /**
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16 * Compute distance between two trajectories.
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17 *
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18 * @param[in] a input trajectory
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19 * @param[in] b input trajectory
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20 * @param[out] result distance between two trajectories
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21 */
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22 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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23 {
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24 result = To(0);
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25 if (nbOfPoints == std::numeric_limits<unsigned int>::max())
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26 checkTrajectoryLength(a->size(), b->size());
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27
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28 To diff = To(0);
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29 for (unsigned int i = 0; i < a->size() and i < nbOfPoints; ++i)
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30 {
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31 cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> p(a->getPoint(i) - b->getPoint(i));
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32 diff += pow(p.x, 2) + pow(p.y, 2) + pow(p.z, 2);
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33 }
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34
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35 result = diff;
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36 }
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37
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38 private:
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39 /**
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40 * Check the length of the trajectories.
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41 *
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42 * @param[in] a the size of the trajectory
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43 * @param[in] b the size of the trajectory
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44 */
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45 void checkTrajectoryLength(size_t a, size_t b) const
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46 {
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47 if (a != b || a == 0)
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48 {
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49 throw TrajectoryLengthErrorException();
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50 }
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51 }
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52 };
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53
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54 #endif /* SQUAREDEUCLIDIANMETRIC_H_ */