double operator()(const PointDiff& a, const Topology& s) const {
try {
detail::generic_interpolator_impl<svp_interpolator,Topology,TimeSpaceType> interp;
interp.initialize(s.origin(), s.adjust(s.origin(),a), 0.0, s, *t_space, *this);
return interp.get_minimum_travel_time();
} catch(optim::infeasible_problem& e) { RK_UNUSED(e);
return std::numeric_limits<double>::infinity();
};
};
state_type operator()(const Topology& space) const {
using ReaK::to_vect;
using ReaK::from_vect;
boost::variate_generator< global_rng_type&, boost::normal_distribution<scalar_type> > var_rnd(get_global_rng(), boost::normal_distribution<scalar_type>());
typedef typename pp::topology_traits<Topology>::point_difference_type state_difference_type;
BOOST_CONCEPT_ASSERT((CovarianceMatrixConcept<covariance_type,state_difference_type>));
vect_n<scalar_type> z = to_vect<scalar_type>(space.difference(mean_state, mean_state));
for(size_type i = 0; i < z.size(); ++i)
z[i] = var_rnd();
return space.adjust(mean_state, from_vect<state_difference_type>(L * z));
};
double operator()(const PointDiff& a, const Topology& s) const {
typedef typename topology_traits<Topology>::point_type PointType;
double d = std::numeric_limits<double>::infinity();
try {
PointType p = s.adjust(s.origin(),a);
// guarantee symmetry by computing reach-times in both directions:
detail::generic_interpolator_impl<svp_interpolator,Topology,TimeSpaceType> interp;
interp.initialize(s.origin(), p, 0.0, s, *t_space, *this);
d = interp.get_minimum_travel_time();
interp.initialize(p, s.origin(), 0.0, s, *t_space, *this);
double d2 = interp.get_minimum_travel_time();
// pick the minimal value:
if( d2 < d)
d = d2;
} catch(optim::infeasible_problem& e) { RK_UNUSED(e); };
if( d == std::numeric_limits<double>::infinity() )
return get(proper_metric, s)(a, s);
return d;
};
double operator()(const PointDiff& a, const Topology& s) const {
detail::generic_interpolator_impl<svp_interpolator,Topology,TimeSpaceType> interp;
interp.initialize(s.origin(), s.adjust(s.origin(),a), 0.0, s, *t_space, *this);
return interp.get_minimum_travel_time();
};
