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

#include <mrpt/math/CSplineInterpolator1D.h>

Inheritance diagram for mrpt::math::CSplineInterpolator1D:

[legend]

List of all members.

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.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Private Attributes
std::map< double, double >	m_x2y
	The placeholders for the data.
bool	m_wrap2pi
	Whether to wrap "y".
RTTI stuff
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
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CSplineInterpolator1DPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream

Member Typedef Documentation

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

A typedef for the associated smart pointer

Definition at line 51 of file CSplineInterpolator1D.h.

Constructor & Destructor Documentation

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 62 of file CSplineInterpolator1D.h.

mrpt::math::CSplineInterpolator1D::CSplineInterpolator1D ( bool wrap2pi = false )

Constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::math::CSplineInterpolator1D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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

Append a new point:

void mrpt::math::CSplineInterpolator1D::clear ( ) [inline]

Clears all stored points.

Definition at line 98 of file CSplineInterpolator1D.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

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

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

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

bool mrpt::math::CSplineInterpolator1D::getWrap2pi ( ) [inline]

Return the wrap property.

Definition at line 77 of file CSplineInterpolator1D.h.

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

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 112 of file CSplineInterpolator1D.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::math::CSplineInterpolator1D::setWrap2pi ( bool wrap ) [inline]

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

Definition at line 74 of file CSplineInterpolator1D.h.

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 83 of file CSplineInterpolator1D.h.

References MRPT_START, ASSERT_EQUAL_, and MRPT_END.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer