space之间和pose之间距离的计

1.configuration  space中的distance

      metric说明：定义了在configuration space中distance是怎么计算的
    the configuration space metric: this metric defines how distances are calculated in the configuration space of the manipulator, in order to identify a configuration node that is closest to what we are looking for. The metric corresponds to assigning a weight to each joint in the manipulator. Larger values will count for larger distances in the configuration space: if the first joint of a manipulator rotates by 1 degree, the end-effector displacement will usually be larger than if the last joint of the same manipulator rotates by the same amount. To take this into account, one would normally give larger weights to the base joints.

 metric={0.5,1,1,0.5,0.1,0.2,0.1}  给每一个关节值的差分配权重。