StateDifference Struct Reference

Contains the differences between the contiuous components of two hybrid states. More...

#include <graphTools.h>

Collaboration diagram for StateDifference:

Public Types
enum	WHAT_D_FLAG { DI , DN }

Public Member Functions
	StateDifference (const State &s1, const State &s2)
float	sum ()
float	sum_r ()
	Total difference in "global" robot pose.
float	sum_D_pos (const BodyFeatures &bf)
	Total difference in disturbance pose. More...
float	sum_D_shape (const BodyFeatures &bf)
	Total difference in disturbance shape. More...
float	sum_D (const BodyFeatures &bf)
	Total difference in disturbance pose and shape combined. More...
float	get_sum (int mt)
	Returns difference in certain aspects we want to match between states. More...
void	init (const State &s1, const State &s2)
	Initialises the difference object using two states we want to compare. More...
void	fill_invalid_bodyfeatures (BodyFeatures &)
	Fills bf match with large values indicating no match.
void	fill_valid_bodyfeatures (BodyFeatures &bf, const State &s1, const State &s2, WHAT_D_FLAG flag)
	Fills the bodyfeatures match with differences between disturbances in the two states. Differences are calculated in the position local to the robot in that state, not globally. More...

Public Attributes
b2Transform	pose =b2Transform_zero
BodyFeatures	Di
BodyFeatures	Dn

Detailed Description

Contains the differences between the contiuous components of two hybrid states.

Member Function Documentation

fill_valid_bodyfeatures()

void StateDifference::fill_valid_bodyfeatures	(	BodyFeatures &	bf,
		const State &	s1,
		const State &	s2,
		WHAT_D_FLAG	flag
	)

Fills the bodyfeatures match with differences between disturbances in the two states. Differences are calculated in the position local to the robot in that state, not globally.

Parameters

bf	body features to fill
s1
s2
flag	whether it's a Di or Dn

get_sum()

float StateDifference::get_sum

(

int

mt

)

Returns difference in certain aspects we want to match between states.

Parameters

mt	the match type

init()

void StateDifference::init	(	const State &	s1,
		const State &	s2
	)

Initialises the difference object using two states we want to compare.

Parameters

s1
s2

sum_D()

float StateDifference::sum_D ( const BodyFeatures &  bf )

inline

Total difference in disturbance pose and shape combined.

Parameters

bf	body features of disturbance

sum_D_pos()

float StateDifference::sum_D_pos ( const BodyFeatures &  bf )

inline

Total difference in disturbance pose.

Parameters

bf	body features of disturbance

sum_D_shape()

float StateDifference::sum_D_shape ( const BodyFeatures &  bf )

inline

Total difference in disturbance shape.

Parameters

bf	body features of disturbance

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The documentation for this struct was generated from the following files:

• src/graphTools.h
• src/graphTools.cpp