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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1math.html">math</a>::<a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html">CSplineInterpolator1D</a>
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<h1>mrpt::math::CSplineInterpolator1D Class Reference</h1><!-- doxytag: class="mrpt::math::CSplineInterpolator1D" --><!-- doxytag: inherits="mrpt::utils::CSerializable" -->
<p>A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_spline_interpolator1_d_8h_source.html">mrpt/math/CSplineInterpolator1D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::math::CSplineInterpolator1D:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1math_1_1_c_spline_interpolator1_d__inherit__graph.png" border="0" usemap="#mrpt_1_1math_1_1_c_spline_interpolator1_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1math_1_1_c_spline_interpolator1_d_inherit__map" id="mrpt_1_1math_1_1_c_spline_interpolator1_d_inherit__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::math::CSplineInterpolator1D:</div>
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<div class="center"><img src="classmrpt_1_1math_1_1_c_spline_interpolator1_d__coll__graph.png" border="0" usemap="#mrpt_1_1math_1_1_c_spline_interpolator1_d_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1math_1_1_c_spline_interpolator1_d_coll__map" id="mrpt_1_1math_1_1_c_spline_interpolator1_d_coll__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1math_1_1_c_spline_interpolator1_d-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a74896e2d22922c2c03479c7d83477448">CSplineInterpolator1D</a> (const std::vector< double > &initial_x, const std::vector< double > &initial_y, bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor with optional initial values. <a href="#a74896e2d22922c2c03479c7d83477448"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a69284de1806281217c06fcae036215ed">CSplineInterpolator1D</a> (bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a69284de1806281217c06fcae036215ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a49aa94faf51cac7764da387fde17b5d8">setWrap2pi</a> (bool wrap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true, the interpolated data will be wrapped to ]-pi,pi]. <a href="#a49aa94faf51cac7764da387fde17b5d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a1a66017e793018cb99c7a0397fede412">getWrap2pi</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the wrap property. <a href="#a1a66017e793018cb99c7a0397fede412"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a896b00273687382b7d6d9e99750495b4">setXY</a> (const std::vector< double > &x, const std::vector< double > &y, bool clearPreviousContent=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set all the data at once . <a href="#a896b00273687382b7d6d9e99750495b4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#ae572f4aedadf9d8236ff76d638085daa">appendXY</a> (double x, double y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Append a new point:. <a href="#ae572f4aedadf9d8236ff76d638085daa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#aac3835cc8518e79b6359caca763dc319">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clears all stored points. <a href="#aac3835cc8518e79b6359caca763dc319"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a96c4ec377802ed7f78753683e3c33d10">query</a> (double x, double &y, bool &out_valid) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query an interpolation of the curve at some "x". <a href="#a96c4ec377802ed7f78753683e3c33d10"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a4fd3918c5f4fef2577232e20a076b464">queryVector</a> (const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &x, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &out_y) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">As query, but for a whole vector at once. <a href="#a4fd3918c5f4fef2577232e20a076b464"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::map< double, double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#ad739a9b6f10ab3ce6629ae361b41b9a6">m_x2y</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The placeholders for the data. <a href="#ad739a9b6f10ab3ce6629ae361b41b9a6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a338b85a3d99db4b92214d2cef870c0bf">m_wrap2pi</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether to wrap "y". <a href="#a338b85a3d99db4b92214d2cef870c0bf"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. </p>
<p>This class internally relies on <a class="el" href="namespacemrpt_1_1math.html#a43125e4a8a9b7f33c66a55645fe5f0cf" title="Interpolates the value of a function in a point "t" given 4 SORTED points...">mrpt::math::spline</a>. Optionally the y coordinate can be set as wrapped in ]-pi,pi]. For querying interpolated points, see \ sa <a class="el" href="namespacemrpt_1_1math.html#a43125e4a8a9b7f33c66a55645fe5f0cf" title="Interpolates the value of a function in a point "t" given 4 SORTED points...">mrpt::math::spline</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html" title="A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals...">mrpt::poses::CPose3DInterpolator</a> </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00047">47</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a74896e2d22922c2c03479c7d83477448"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D" ref="a74896e2d22922c2c03479c7d83477448" args="(const std::vector< double > &initial_x, const std::vector< double > &initial_y, bool wrap2pi=false)" -->
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<td class="memname">mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D </td>
<td>(</td>
<td class="paramtype">const std::vector< double > & </td>
<td class="paramname"> <em>initial_x</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const std::vector< double > & </td>
<td class="paramname"> <em>initial_y</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"> <em>wrap2pi</em> = <code>false</code></td><td> </td>
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<td>)</td>
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<p>Constructor with optional initial values. </p>
</div>
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<a class="anchor" id="a69284de1806281217c06fcae036215ed"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D" ref="a69284de1806281217c06fcae036215ed" args="(bool wrap2pi=false)" -->
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<td class="memname">mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>wrap2pi</em> = <code>false</code></td>
<td> ) </td>
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<p>Constructor. </p>
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</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae572f4aedadf9d8236ff76d638085daa"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::appendXY" ref="ae572f4aedadf9d8236ff76d638085daa" args="(double x, double y)" -->
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<td class="memname">void mrpt::math::CSplineInterpolator1D::appendXY </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"> <em>y</em></td><td> </td>
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<td></td>
<td>)</td>
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<p>Append a new point:. </p>
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</div>
<a class="anchor" id="aac3835cc8518e79b6359caca763dc319"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::clear" ref="aac3835cc8518e79b6359caca763dc319" args="()" -->
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<td class="memname">void mrpt::math::CSplineInterpolator1D::clear </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Clears all stored points. </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00084">84</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
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<a class="anchor" id="a1a66017e793018cb99c7a0397fede412"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::getWrap2pi" ref="a1a66017e793018cb99c7a0397fede412" args="()" -->
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<td class="memname">bool mrpt::math::CSplineInterpolator1D::getWrap2pi </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>Return the wrap property. </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00073">73</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
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<a class="anchor" id="a96c4ec377802ed7f78753683e3c33d10"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::query" ref="a96c4ec377802ed7f78753683e3c33d10" args="(double x, double &y, bool &out_valid) const " -->
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<td class="memname">double& mrpt::math::CSplineInterpolator1D::query </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"> <em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"> <em>y</em>, </td>
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<td class="paramtype">bool & </td>
<td class="paramname"> <em>out_valid</em></td><td> </td>
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<p>Query an interpolation of the curve at some "x". </p>
<p>The result is stored in "y". If the "x" point is out of range, "valid_out" is set to false. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A reference to "y" </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a4fd3918c5f4fef2577232e20a076b464" title="As query, but for a whole vector at once.">queryVector</a> </dd></dl>
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<a class="anchor" id="a4fd3918c5f4fef2577232e20a076b464"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::queryVector" ref="a4fd3918c5f4fef2577232e20a076b464" args="(const vector_double &x, vector_double &out_y) const " -->
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<td class="memname">bool mrpt::math::CSplineInterpolator1D::queryVector </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>out_y</em></td><td> </td>
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<p>As query, but for a whole vector at once. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false if there is at least one value that couldn't be interpolated (in this case the output is indeterminate). </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a96c4ec377802ed7f78753683e3c33d10" title="Query an interpolation of the curve at some "x".">query</a> </dd></dl>
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<a class="anchor" id="a49aa94faf51cac7764da387fde17b5d8"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::setWrap2pi" ref="a49aa94faf51cac7764da387fde17b5d8" args="(bool wrap)" -->
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<td class="memname">void mrpt::math::CSplineInterpolator1D::setWrap2pi </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>wrap</em></td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>If set to true, the interpolated data will be wrapped to ]-pi,pi]. </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00070">70</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
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<a class="anchor" id="a896b00273687382b7d6d9e99750495b4"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::setXY" ref="a896b00273687382b7d6d9e99750495b4" args="(const std::vector< double > &x, const std::vector< double > &y, bool clearPreviousContent=true)" -->
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<td class="memname">void mrpt::math::CSplineInterpolator1D::setXY </td>
<td>(</td>
<td class="paramtype">const std::vector< double > & </td>
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<td class="paramtype">const std::vector< double > & </td>
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<td class="paramname"> <em>clearPreviousContent</em> = <code>true</code></td><td> </td>
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<p>Set all the data at once . </p>
<p>The vectors must have the same length. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a338b85a3d99db4b92214d2cef870c0bf"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::m_wrap2pi" ref="a338b85a3d99db4b92214d2cef870c0bf" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a338b85a3d99db4b92214d2cef870c0bf">mrpt::math::CSplineInterpolator1D::m_wrap2pi</a><code> [private]</code></td>
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<p>Whether to wrap "y". </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00056">56</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
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<a class="anchor" id="ad739a9b6f10ab3ce6629ae361b41b9a6"></a><!-- doxytag: member="mrpt::math::CSplineInterpolator1D::m_x2y" ref="ad739a9b6f10ab3ce6629ae361b41b9a6" args="" -->
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<td class="memname">std::map<double,double> <a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#ad739a9b6f10ab3ce6629ae361b41b9a6">mrpt::math::CSplineInterpolator1D::m_x2y</a><code> [private]</code></td>
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<p>The placeholders for the data. </p>
<p>Definition at line <a class="el" href="_c_spline_interpolator1_d_8h_source.html#l00054">54</a> of file <a class="el" href="_c_spline_interpolator1_d_8h_source.html">CSplineInterpolator1D.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.6.2-20100208</a> for MRPT 0.9.0 SVN: at Wed Jul 14 12:48:09 UTC 2010</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
