Regular API function

configA: the first configuration, e.g. in case of a 3D pose (position+quaternion), would be {x1,y1,z1,qx1,qy1,qz1,qw1}

configB: the second configuration

metric: an optional table specifying the metric to use to compute distances. e.g. if the specified configurations were 3D positions, the distance between two configurations would be calculated as SQRT( mx*(x2-x1)^2+my*(y2-y1)^2+mz*(z2-z1)^2 ), where {mx,my,mz} would be the metric.

types: an optional table specifying the type of each configuration value/dimension: 0=cartesian value, 1=2pi-cyclic value, 2=quaternion value. e.g. a configuration representing 3D poses should use a types argument {0,0,0,2,2,2,2}, a configuration representing revolute and cyclic joints should use a types argument {1,1,1,...}