A metric for calculating plane-to-plane distance. More...

#include <Plane.hpp>

Public Member Functions
	PlaneMetric (double angToDistWeight=1.0)
	Constructor. More...

Public Member Functions inherited from Metric< rw::geometry::Plane >
virtual	~Metric ()
	Destructor.

scalar_type	distance (const value_type &q) const
	The distance from the zero element to q.

scalar_type	distance (const value_type &a, const value_type &b) const
	The distance from element a to b. More...

int	size () const
	The dimension of elements on which this metric operates. More...

Protected Member Functions
double	doDistance (const Plane &q) const
	Calculates distance from the plane to reference plane (X-Y surface)

double	doDistance (const Plane &a, const Plane &b) const
	Calculates distance between two planes. More...

int	doSize () const
	The dimension of elements on which this metric operates. More...

Protected Member Functions inherited from Metric< rw::geometry::Plane >
	Metric ()
	Protected constructor called by subclassed.

	Metric (const Metric &)
	Disable copying of superclass.

Metric &	operator= (const Metric &)
	Disable assignment of superclass.

Protected Attributes
double	_angToDistWeight

Additional Inherited Members
Public Types inherited from Metric< rw::geometry::Plane >
typedef rw::geometry::Plane	value_type
	The type of element on which the metric operates.

typedef T::value_type	scalar_type
	The type of the scalar.

typedef rw::core::Ptr< Metric< rw::geometry::Plane > >	Ptr
	A pointer to a Metric<T>.

typedef rw::core::Ptr< const Metric< rw::geometry::Plane > >	CPtr
	A pointer to a const Metric<T>.

Detailed Description

A metric for calculating plane-to-plane distance.

Constructor & Destructor Documentation

◆ PlaneMetric()

PlaneMetric ( double angToDistWeight = 1.0 )

inline

Constructor.

Parameters

angToDistWeight [in] weighting of angle compared to linear distance.

Member Function Documentation

◆ doDistance()

double doDistance	(	const Plane &	a,
		const Plane &	b
	)		const

inlineprotectedvirtual

Calculates distance between two planes.

The distance is calculated according to formula:

val = 0.5*angle(p1.normal, p2.normal)*angToDistWeight + 0.5*fabs(p1.d-p2.d);

Angle is normalized, so that planes with opposite normals are treated as the same plane.

Implements Metric< rw::geometry::Plane >.

◆ doSize()

int doSize ( ) const

inlineprotectedvirtual

The dimension of elements on which this metric operates.

The returns -1 if the elements don't have a measure of dimension or if the metric works for elements of all dimensions.

Note: this function always return -1.

Reimplemented from Metric< rw::geometry::Plane >.

Member Data Documentation

◆ _angToDistWeight

double _angToDistWeight

protected

Parameters

weighting of angle compared to linear distance.

The documentation for this class was generated from the following file:

Plane.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members