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 48 of file CSplineInterpolator1D.h.

#include <mrpt/math/CSplineInterpolator1D.h>

Inheritance diagram for mrpt::math::CSplineInterpolator1D:

[legend]

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

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

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

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 ( )

staticprotected

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

inlineinherited

Cloning interface for smart pointers.

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

inlineinherited

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.

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

protectedvirtual

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

Implements mrpt::utils::CSerializable.

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 ASSERT_EQUAL_, MRPT_END, and MRPT_START.

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

protectedvirtual

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

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

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

staticprotected

Definition at line 51 of file CSplineInterpolator1D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

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

static

Definition at line 51 of file CSplineInterpolator1D.h.

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

static

Definition at line 51 of file CSplineInterpolator1D.h.

bool mrpt::math::CSplineInterpolator1D::m_wrap2pi

private

Whether to wrap "y".

Definition at line 57 of file CSplineInterpolator1D.h.

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

private

The placeholders for the data.

Definition at line 55 of file CSplineInterpolator1D.h.

Detailed Description

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation