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KatanaKinematicsDecisionAlgorithms.cpp

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/***************************************************************************
 *   Copyright (C) 2006-2008 by Neuronics AG                               *
 *   support@neuronics.ch                                                  *
 ***************************************************************************/

#include "KatanaKinematicsDecisionAlgorithms.h"
#include "MathHelperFunctions.h"

namespace AnaGuess {


KinematicsDefaultEncMinAlgorithm::t_iter
KinematicsDefaultEncMinAlgorithm::operator() (t_iter targetEnc_begin, t_iter targetEnc_end, c_iter currentEnc_begin, c_iter currentEnc_end ) {
        double dist(0), sum(0), mindist=1000000;
        t_iter index = targetEnc_end;

        for(t_iter target = targetEnc_begin; target != targetEnc_end; ++target) {
                sum = 0;

                c_iter t = (*target).begin();
                c_iter c = currentEnc_begin;
                while( t != (*target).end() && c != currentEnc_end) {
                        sum += MHF::pow2<double>( *t - *c);
                        ++t;
                        ++c;
                }
                dist = sqrt(sum);
                if(dist < mindist) {
                        index = target;
                        mindist = dist;
                }
        }

        return index;
}

KinematicsDefaultRadMinAlgorithm::t_iter
KinematicsDefaultRadMinAlgorithm::operator() (t_iter targetRad_begin, t_iter targetRad_end, c_iter currentRad_begin, c_iter currentRad_end ) {
        double dist(0), sum(0), mindist=1000000;
        t_iter index = targetRad_end;

        for(t_iter target = targetRad_begin; target != targetRad_end; ++target) {
                sum = 0;

                c_iter t = (*target).begin();
                c_iter c = currentRad_begin;
                while( t != (*target).end() && c != currentRad_end) {
                        sum += MHF::pow2<double>( *t - *c);
                        ++t;
                        ++c;
                }
                dist = sqrt(sum);
                if(dist < mindist) {
                        index = target;
                        mindist = dist;
                }
        }

        return index;
}

} // namespace

---

kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue Mar 5 12:32:59 2013