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<div class="title">CSplineInterpolator1D.h</div> </div>
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<a href="_c_spline_interpolator1_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSplineInterpolator1D_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSplineInterpolator1D_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>math
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00040"></a><a class="code" href="structmrpt_1_1math_1_1_c_spline_interpolator1_d_ptr.html#a3e31e95385095ffd8336b944f998a5fc">00040</a> <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html" title="A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline ...">CSplineInterpolator1D</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a> )
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible.</span>
<a name="l00043"></a>00043 <span class="comment"> * This class internally relies on mrpt::math::spline. Optionally the y coordinate can be set as wrapped in ]-pi,pi].</span>
<a name="l00044"></a>00044 <span class="comment"> * For querying interpolated points, see</span>
<a name="l00045"></a>00045 <span class="comment"> * \ sa mrpt::math::spline, mrpt::poses::CPose3DInterpolator</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup interpolation_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html" title="A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline ...">CSplineInterpolator1D</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a34770fe9d688dda0398b6ae69165f570">00051</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html" title="A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline ...">CSplineInterpolator1D</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 private:<span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** The placeholders for the data */</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#ad739a9b6f10ab3ce6629ae361b41b9a6">00055</a> std::<a class="code" href="classstd_1_1map.html" title="STL class.">map</a><<span class="keywordtype">double</span>,<span class="keywordtype">double</span>> m_x2y;
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a338b85a3d99db4b92214d2cef870c0bf">00057</a> <span class="keywordtype">bool</span> m_wrap2pi; <span class="comment">//!< Whether to wrap "y"</span>
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 public:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Constructor with optional initial values. */</span>
<a name="l00061"></a>00061 template <class VECTOR>
<a name="l00062"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a11565fb496739efe9d73987034363192">00062</a> inline <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html" title="A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline ...">CSplineInterpolator1D</a>(
<a name="l00063"></a>00063 const VECTOR &initial_x,
<a name="l00064"></a>00064 const VECTOR &initial_y,
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> wrap2pi = false ) : m_wrap2pi(wrap2pi)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 setXY(initial_x, initial_y);
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Constructor */</span>
<a name="l00071"></a>00071 <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html" title="A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline ...">CSplineInterpolator1D</a>( <span class="keywordtype">bool</span> wrap2pi = <span class="keyword">false</span> );
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** If set to true, the interpolated data will be wrapped to ]-pi,pi] */</span>
<a name="l00074"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a49aa94faf51cac7764da387fde17b5d8">00074</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a49aa94faf51cac7764da387fde17b5d8" title="If set to true, the interpolated data will be wrapped to ]-pi,pi].">setWrap2pi</a>(<span class="keywordtype">bool</span> wrap) { m_wrap2pi=wrap; }
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Return the wrap property */</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a1a66017e793018cb99c7a0397fede412">00077</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a1a66017e793018cb99c7a0397fede412" title="Return the wrap property.">getWrap2pi</a>() { <span class="keywordflow">return</span> m_wrap2pi; }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Set all the data at once .</span>
<a name="l00080"></a>00080 <span class="comment"> * The vectors must have the same length.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keyword">template</span> <<span class="keyword">class</span> VECTOR>
<a name="l00083"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#acd869e554a8ce9b3bdccfdfec1f9cc7a">00083</a> <span class="keywordtype">void</span> setXY( <span class="keyword">const</span> VECTOR &x, <span class="keyword">const</span> VECTOR &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">bool</span> clearPreviousContent = <span class="keyword">true</span> )
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (clearPreviousContent) m_x2y.clear();
<a name="l00087"></a>00087 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(x.size(),y.size())
<a name="l00088"></a>00088 <span class="keyword">const</span> <span class="keywordtype">size_t</span> n = <span class="keywordtype">size_t</span>(x.size());
<a name="l00089"></a>00089 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<n;i++)
<a name="l00090"></a>00090 m_x2y[ x[i] ] = y[i];
<a name="l00091"></a>00091 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Append a new point: */</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> appendXY( <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Clears all stored points */</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#aac3835cc8518e79b6359caca763dc319">00098</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#aac3835cc8518e79b6359caca763dc319" title="Clears all stored points.">clear</a>() { m_x2y.clear(); }
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** Query an interpolation of the curve at some "x".</span>
<a name="l00101"></a>00101 <span class="comment"> * The result is stored in "y". If the "x" point is out of range, "valid_out" is set to false.</span>
<a name="l00102"></a>00102 <span class="comment"> * \return A reference to "y"</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa queryVector</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">double</span> &query( <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">bool</span> &out_valid ) <span class="keyword">const</span>;
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** As query, but for a whole vector at once.</span>
<a name="l00108"></a>00108 <span class="comment"> * \return false if there is at least one value that couldn't be interpolated (in this case the output is indeterminate).</span>
<a name="l00109"></a>00109 <span class="comment"> * \sa query</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 <span class="keyword">template</span> <<span class="keyword">class</span> VECTOR1,<span class="keyword">class</span> VECTOR2>
<a name="l00112"></a><a class="code" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a833bbdf502f9c01c7a67ac8640d8ee8f">00112</a> <span class="keywordtype">bool</span> queryVector( <span class="keyword">const</span> VECTOR1 &x, VECTOR2 &out_y )<span class="keyword"> const</span>
<a name="l00113"></a>00113 <span class="keyword"> </span>{
<a name="l00114"></a>00114 <span class="keyword">const</span> <span class="keywordtype">size_t</span> n = size_t(x.size());
<a name="l00115"></a>00115 out_y.resize(n);
<a name="l00116"></a>00116 <span class="keywordtype">bool</span> valid, anyValid=<span class="keyword">false</span>;
<a name="l00117"></a>00117 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i =0;i<n;i++)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 query( x[i], out_y[i], valid );
<a name="l00120"></a>00120 <span class="keywordflow">if</span> (valid) anyValid=<span class="keyword">true</span>;
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="keywordflow">return</span> anyValid;
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124
<a name="l00125"></a>00125 };
<a name="l00126"></a>00126
<a name="l00127"></a>00127 } <span class="comment">// End of namespace</span>
<a name="l00128"></a>00128 } <span class="comment">// End of namespace</span>
<a name="l00129"></a>00129 <span class="preprocessor">#endif</span>
</pre></div></div>
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