mrpt::math::CSplineInterpolator1D Class Reference

Detailed Description

A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible.

This class internally relies on mrpt::math::spline. Optionally the y coordinate can be set as wrapped in ]-pi,pi]. For querying interpolated points, see \ sa mrpt::math::spline, mrpt::poses::CPose3DInterpolator

Definition at line 29 of file CSplineInterpolator1D.h.

#include <mrpt/math/CSplineInterpolator1D.h>

Inheritance diagram for mrpt::math::CSplineInterpolator1D:

Public Member Functions
template<class VECTOR >
	CSplineInterpolator1D (const VECTOR &initial_x, const VECTOR &initial_y, bool wrap2pi=false)
	Constructor with optional initial values.
	CSplineInterpolator1D (bool wrap2pi=false)
	Constructor.
void	setWrap2pi (bool wrap)
	If set to true, the interpolated data will be wrapped to ]-pi,pi].
bool	getWrap2pi ()
	Return the wrap property.
template<class VECTOR >
void	setXY (const VECTOR &x, const VECTOR &y, bool clearPreviousContent=true)
	Set all the data at once .
void	appendXY (double x, double y)
	Append a new point:
void	clear ()
	Clears all stored points.
double &	query (double x, double &y, bool &out_valid) const
	Query an interpolation of the curve at some "x".
template<class VECTOR1 , class VECTOR2 >
bool	queryVector (const VECTOR1 &x, VECTOR2 &out_y) const
	As query, but for a whole vector at once.

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
void	readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE

Private Attributes
std::map< double, double >	m_x2y
	The placeholders for the data.
bool	m_wrap2pi
	Whether to wrap "y".

RTTI stuff <br>
typedef CSplineInterpolator1DPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CSplineInterpolator1D
static mrpt::utils::TRuntimeClassId	classCSplineInterpolator1D
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const MRPT_OVERRIDE
virtual mrpt::utils::CObject *	duplicate () const MRPT_OVERRIDE
static mrpt::utils::CObject *	CreateObject ()
static CSplineInterpolator1DPtr	Create ()

Member Typedef Documentation

SmartPtr

typedef CSplineInterpolator1DPtr mrpt::math::CSplineInterpolator1D::SmartPtr

A typedef for the associated smart pointer

Definition at line 32 of file CSplineInterpolator1D.h.

Constructor & Destructor Documentation

CSplineInterpolator1D() [1/2]

template<class VECTOR >

mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D ( const VECTOR &  initial_x, const VECTOR &  initial_y, bool  wrap2pi = false  )

inline

Constructor with optional initial values.

Definition at line 43 of file CSplineInterpolator1D.h.

CSplineInterpolator1D() [2/2]

mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D

(

bool

wrap2pi = false

)

Constructor.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::math::CSplineInterpolator1D::_GetBaseClass ( )

staticprotected

appendXY()

void mrpt::math::CSplineInterpolator1D::appendXY	(	double	x,
		double	y
	)

Append a new point:

clear()

void mrpt::math::CSplineInterpolator1D::clear ( )

inline

Clears all stored points.

Definition at line 79 of file CSplineInterpolator1D.h.

Create()

static CSplineInterpolator1DPtr mrpt::math::CSplineInterpolator1D::Create ( )

static

CreateObject()

static mrpt::utils::CObject * mrpt::math::CSplineInterpolator1D::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject * mrpt::math::CSplineInterpolator1D::duplicate ( ) const

virtual

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::math::CSplineInterpolator1D::GetRuntimeClass ( ) const

virtual

getWrap2pi()

bool mrpt::math::CSplineInterpolator1D::getWrap2pi ( )

inline

Return the wrap property.

Definition at line 58 of file CSplineInterpolator1D.h.

query()

double & mrpt::math::CSplineInterpolator1D::query	(	double	x,
		double &	y,
		bool &	out_valid
	)		const

Query an interpolation of the curve at some "x".

The result is stored in "y". If the "x" point is out of range, "valid_out" is set to false.

Returns

A reference to "y"

See also

queryVector

queryVector()

template<class VECTOR1 , class VECTOR2 >

bool mrpt::math::CSplineInterpolator1D::queryVector ( const VECTOR1 &  x, VECTOR2 &  out_y  ) const

inline

As query, but for a whole vector at once.

Returns

false if there is at least one value that couldn't be interpolated (in this case the output is indeterminate).

See also

query

Definition at line 93 of file CSplineInterpolator1D.h.

readFromStream()

void mrpt::math::CSplineInterpolator1D::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protected

setWrap2pi()

void mrpt::math::CSplineInterpolator1D::setWrap2pi ( bool  wrap )

inline

If set to true, the interpolated data will be wrapped to ]-pi,pi].

Definition at line 55 of file CSplineInterpolator1D.h.

setXY()

template<class VECTOR >

void mrpt::math::CSplineInterpolator1D::setXY ( const VECTOR &  x, const VECTOR &  y, bool  clearPreviousContent = true  )

inline

Set all the data at once .

The vectors must have the same length.

Definition at line 64 of file CSplineInterpolator1D.h.

References ASSERT_EQUAL_, MRPT_END, and MRPT_START.

writeToStream()

void mrpt::math::CSplineInterpolator1D::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protected

Member Data Documentation

_init_CSplineInterpolator1D

mrpt::utils::CLASSINIT mrpt::math::CSplineInterpolator1D::_init_CSplineInterpolator1D

staticprotected

Definition at line 32 of file CSplineInterpolator1D.h.

classCSplineInterpolator1D

mrpt::utils::TRuntimeClassId mrpt::math::CSplineInterpolator1D::classCSplineInterpolator1D

static

Definition at line 32 of file CSplineInterpolator1D.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::math::CSplineInterpolator1D::classinfo

static

Definition at line 32 of file CSplineInterpolator1D.h.

m_wrap2pi

bool mrpt::math::CSplineInterpolator1D::m_wrap2pi

private

Whether to wrap "y".

Definition at line 38 of file CSplineInterpolator1D.h.

m_x2y

std::map<double,double> mrpt::math::CSplineInterpolator1D::m_x2y

private

The placeholders for the data.

Definition at line 36 of file CSplineInterpolator1D.h.