--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectorymanagement/src/CanberraMetric.h	Mon Feb 22 22:09:35 2021 -0500
@@ -0,0 +1,86 @@
+#ifndef CANBERRAMETRIC_H_
+#define CANBERRAMETRIC_H_
+
+#include "Metric.h"
+
+#include "TrajectoryExceptions.h"
+
+/**
+ * CanberraMetric class.
+ *
+ * The Canberra metric measures the similarity between two trajectories.
+ */
+template<typename Tr>
+class CanberraMetric: public Metric<Tr, double>
+{
+public:
+	/**
+	 * Compute distance between two trajectories.
+	 *
+	 * @param[in] a input trajectory
+	 * @param[in] b input trajectory
+	 * @param[out] result distance between two trajectories
+	 */
+  void distance(const Trajectory<Tr> *a, const Trajectory<Tr> *b, double &result, unsigned int nbOfPoints = std::numeric_limits<unsigned int>::max()) 
+	{
+		result = double(0);
+		
+		if (nbOfPoints == std::numeric_limits<unsigned int>::max())
+		  checkTrajectoryLength(a->size(), b->size());
+
+		double diff = double(0);
+		for (unsigned int i = 0; i < a->size() and i < nbOfPoints; ++i)
+		{
+			cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> A(a->getPoint(i));
+			cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> B(b->getPoint(i));
+			diff += calculate(A.x, B.x);
+			diff += calculate(A.y, B.y);
+			diff += calculate(A.z, B.z);
+		}
+
+		result = diff;
+	}
+
+private:
+	/**
+	 * Check the length of the trajectories.
+	 *
+	 * @param[in] a the size of the trajectory
+	 * @param[in] b the size of the trajectory
+	 */
+	void checkTrajectoryLength(size_t a, size_t b) const
+	{
+		if (a != b || a == 0)
+		{
+			throw TrajectoryLengthErrorException();
+		}
+	}
+
+	/**
+	 * Compute similarity between two values.
+	 *
+	 * @param a first value
+	 * @param b second value
+	 * @return result
+	 */
+	double calculate(double a, double b)
+	{
+		double result = std::abs(a - b);
+
+		a = std::fabs(a);
+		b = std::fabs(b);
+
+		a += b;
+
+		if (a == 0)
+		{
+			return 0;
+		}
+
+		result /= a;
+
+		return result;
+	}
+};
+
+#endif /* CANBERRAMETRIC_H_ */