00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CSplineInterpolator1D_H 00029 #define CSplineInterpolator1D_H 00030 00031 #include <mrpt/utils/utils_defs.h> 00032 #include <mrpt/utils/CSerializable.h> 00033 #include <mrpt/utils/stl_extensions.h> 00034 00035 namespace mrpt 00036 { 00037 namespace math 00038 { 00039 // This must be added to any CSerializable derived class: 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CSplineInterpolator1D, mrpt::utils::CSerializable ) 00041 00042 /** A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. 00043 * This class internally relies on mrpt::math::spline. Optionally the y coordinate can be set as wrapped in ]-pi,pi]. 00044 * For querying interpolated points, see 00045 * \ sa mrpt::math::spline, mrpt::poses::CPose3DInterpolator 00046 * \ingroup interpolation_grp 00047 */ 00048 class BASE_IMPEXP CSplineInterpolator1D : public mrpt::utils::CSerializable 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_SERIALIZABLE( CSplineInterpolator1D ) 00052 00053 private: 00054 /** The placeholders for the data */ 00055 std::map<double,double> m_x2y; 00056 00057 bool m_wrap2pi; //!< Whether to wrap "y" 00058 00059 public: 00060 /** Constructor with optional initial values. */ 00061 template <class VECTOR> 00062 inline CSplineInterpolator1D( 00063 const VECTOR &initial_x, 00064 const VECTOR &initial_y, 00065 bool wrap2pi = false ) : m_wrap2pi(wrap2pi) 00066 { 00067 setXY(initial_x, initial_y); 00068 } 00069 00070 /** Constructor */ 00071 CSplineInterpolator1D( bool wrap2pi = false ); 00072 00073 /** If set to true, the interpolated data will be wrapped to ]-pi,pi] */ 00074 void setWrap2pi(bool wrap) { m_wrap2pi=wrap; } 00075 00076 /** Return the wrap property */ 00077 bool getWrap2pi() { return m_wrap2pi; } 00078 00079 /** Set all the data at once . 00080 * The vectors must have the same length. 00081 */ 00082 template <class VECTOR> 00083 void setXY( const VECTOR &x, const VECTOR &y, bool clearPreviousContent = true ) 00084 { 00085 MRPT_START 00086 if (clearPreviousContent) m_x2y.clear(); 00087 ASSERT_EQUAL_(x.size(),y.size()) 00088 const size_t n = size_t(x.size()); 00089 for (size_t i=0;i<n;i++) 00090 m_x2y[ x[i] ] = y[i]; 00091 MRPT_END 00092 } 00093 00094 /** Append a new point: */ 00095 void appendXY( double x, double y ); 00096 00097 /** Clears all stored points */ 00098 void clear() { m_x2y.clear(); } 00099 00100 /** Query an interpolation of the curve at some "x". 00101 * The result is stored in "y". If the "x" point is out of range, "valid_out" is set to false. 00102 * \return A reference to "y" 00103 * \sa queryVector 00104 */ 00105 double &query( double x, double &y, bool &out_valid ) const; 00106 00107 /** As query, but for a whole vector at once. 00108 * \return false if there is at least one value that couldn't be interpolated (in this case the output is indeterminate). 00109 * \sa query 00110 */ 00111 template <class VECTOR1,class VECTOR2> 00112 bool queryVector( const VECTOR1 &x, VECTOR2 &out_y ) const 00113 { 00114 const size_t n = size_t(x.size()); 00115 out_y.resize(n); 00116 bool valid, anyValid=false; 00117 for (size_t i =0;i<n;i++) 00118 { 00119 query( x[i], out_y[i], valid ); 00120 if (valid) anyValid=true; 00121 } 00122 return anyValid; 00123 } 00124 00125 }; 00126 00127 } // End of namespace 00128 } // End of namespace 00129 #endif
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