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view trajectorymanagement/src/ChebyshevMetric.h @ 1221:5a207c838323
correcting recursive errors
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 19 Jun 2023 22:37:45 -0400 |
parents | e1e7acef8eab |
children |
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#ifndef CHEBYSHEVMETRIC_H_ #define CHEBYSHEVMETRIC_H_ #include "Metric.h" #include "TrajectoryExceptions.h" /** * ChebyshevMetric class. * * The Chebyshev metric measures the similarity between two trajectories. * This metric represents the largest distance of all points in every dimension. Expressed in meters. */ template<typename Tr, typename To> class ChebyshevMetric: public Metric<Tr, To> { 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, To &result, unsigned int nbOfPoints = std::numeric_limits<unsigned int>::max()) { result = To(0); if (nbOfPoints == std::numeric_limits<unsigned int>::max()) checkTrajectoryLength(a->size(), b->size()); To diff = abs((a->getPoint(0) - b->getPoint(0)).x); for (unsigned int i = 0; i < a->size() and i < nbOfPoints ; ++i) { cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> p(a->getPoint(i) - b->getPoint(i)); diff = std::max(diff, abs(p.x)); diff = std::max(diff, abs(p.y)); diff = std::max(diff, abs(p.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(); } } }; #endif /* CHEBYSHEVMETRIC_H_ */