Distance to point RobOptim function. More...
#include <roboptim/capsule/distance-capsule-point.hh>
Public Member Functions | |
DistanceCapsulePoint (const point_t &point, std::string name="distance to point") throw () | |
Constructor. More... | |
~DistanceCapsulePoint () throw () | |
virtual const point_t & | point () const throw () |
Get point attribute. More... | |
Protected Member Functions | |
virtual void | impl_compute (result_t &result, const argument_t &argument) const throw () |
Computes the distance from capsule to a point. More... | |
virtual void | impl_gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0) const throw () |
Compute of the distance gradient with respect to the capsule parameters. More... | |
Distance to point RobOptim function.
roboptim::capsule::DistanceCapsulePoint::DistanceCapsulePoint | ( | const point_t & | point, |
std::string | name = "distance to point" |
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Constructor.
point | point that will be used in computing distance between the capsule and the point. |
roboptim::capsule::DistanceCapsulePoint::~DistanceCapsulePoint | ( | ) | ||
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protectedvirtual |
Computes the distance from capsule to a point.
If the result is negative, the point is inside the capsule, otherwise it is outside the capsule.
argument | vector containing the capsule parameters. It contains in this order: the segment first end point coordinates, the segment second end point coordinates, the capsule radius. |
References roboptim::capsule::distancePointToSegment().
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protectedvirtual |
Compute of the distance gradient with respect to the capsule parameters.
argument | vector containing the capsule parameters. It contains in this order: the segment first end point coordinates, the segment second end point coordinates, the capsule radius. |
References roboptim::capsule::projectionOnSegment().
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virtual |
Get point attribute.