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 24 of file CSplineInterpolator1D.h.

#include <mrpt/math/CSplineInterpolator1D.h>

Inheritance diagram for mrpt::math::CSplineInterpolator1D:

Public Member Functions
template<class VECTOR >
	CSplineInterpolator1D (const VECTOR &initial_x, const VECTOR &initial_y, bool wrap2pi=false)
	Constructor with optional initial values. More...

	CSplineInterpolator1D (bool wrap2pi=false)
	Constructor. More...

void	setWrap2pi (bool wrap)
	If set to true, the interpolated data will be wrapped to ]-pi,pi]. More...

bool	getWrap2pi ()
	Return the wrap property. More...

template<class VECTOR >
void	setXY (const VECTOR &x, const VECTOR &y, bool clearPreviousContent=true)
	Set all the data at once . More...

void	appendXY (double x, double y)
	Append a new point: More...

void	clear ()
	Clears all stored points. More...

double &	query (double x, double &y, bool &out_valid) const
	Query an interpolation of the curve at some "x". More...

template<class VECTOR1 , class VECTOR2 >
bool	queryVector (const VECTOR1 &x, VECTOR2 &out_y) const
	As query, but for a whole vector at once. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Private Attributes
std::map< double, double >	m_x2y
	The placeholders for the data. More...

bool	m_wrap2pi
	Whether to wrap "y". More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::math ::CSplineInterpolator1D >

using	ConstPtr = std::shared_ptr< const mrpt::math ::CSplineInterpolator1D >

using	UniquePtr = std::unique_ptr< mrpt::math ::CSplineInterpolator1D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::math ::CSplineInterpolator1D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::math" "::" "CSplineInterpolator1D"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::math::CSplineInterpolator1D::ConstPtr = std::shared_ptr<const mrpt::math :: CSplineInterpolator1D >

Definition at line 26 of file CSplineInterpolator1D.h.

◆ ConstUniquePtr

using mrpt::math::CSplineInterpolator1D::ConstUniquePtr = std::unique_ptr<const mrpt::math :: CSplineInterpolator1D >

Definition at line 26 of file CSplineInterpolator1D.h.

◆ Ptr

using mrpt::math::CSplineInterpolator1D::Ptr = std::shared_ptr< mrpt::math :: CSplineInterpolator1D >

A type for the associated smart pointer

Definition at line 26 of file CSplineInterpolator1D.h.

◆ UniquePtr

using mrpt::math::CSplineInterpolator1D::UniquePtr = std::unique_ptr< mrpt::math :: CSplineInterpolator1D >

Definition at line 26 of file CSplineInterpolator1D.h.

Constructor & Destructor Documentation

◆ CSplineInterpolator1D() [1/2]

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 38 of file CSplineInterpolator1D.h.

References setXY().

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◆ CSplineInterpolator1D() [2/2]

CSplineInterpolator1D::CSplineInterpolator1D ( bool wrap2pi = false )

Constructor.

Definition at line 29 of file CSplineInterpolator1D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::math::CSplineInterpolator1D::_GetBaseClass ( )

staticprotected

◆ appendXY()

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

Append a new point:

Definition at line 36 of file CSplineInterpolator1D.cpp.

◆ clear()

void mrpt::math::CSplineInterpolator1D::clear ( )

inline

Clears all stored points.

Definition at line 71 of file CSplineInterpolator1D.h.

References m_x2y.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::math::CSplineInterpolator1D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::math::CSplineInterpolator1D::Create ( Args &&... args )

inlinestatic

Definition at line 26 of file CSplineInterpolator1D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::math::CSplineInterpolator1D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 26 of file CSplineInterpolator1D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::math::CSplineInterpolator1D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::math::CSplineInterpolator1D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 26 of file CSplineInterpolator1D.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::math::CSplineInterpolator1D::getClassName ( )

inlinestatic

Definition at line 26 of file CSplineInterpolator1D.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::math::CSplineInterpolator1D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::math::CSplineInterpolator1D::GetRuntimeClassIdStatic ( )

static

◆ getWrap2pi()

bool mrpt::math::CSplineInterpolator1D::getWrap2pi ( )

inline

Return the wrap property.

Definition at line 51 of file CSplineInterpolator1D.h.

References m_wrap2pi.

◆ query()

double & 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

Definition at line 40 of file CSplineInterpolator1D.cpp.

References mrpt::math::spline().

Referenced by queryVector().

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◆ 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 86 of file CSplineInterpolator1D.h.

References query().

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◆ serializeFrom() [1/2]

void CSplineInterpolator1D::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 108 of file CSplineInterpolator1D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CSplineInterpolator1D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 101 of file CSplineInterpolator1D.cpp.

◆ serializeTo() [1/2]

void CSplineInterpolator1D::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 102 of file CSplineInterpolator1D.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setWrap2pi()

void mrpt::math::CSplineInterpolator1D::setWrap2pi ( bool wrap )

inline

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

Definition at line 49 of file CSplineInterpolator1D.h.

References m_wrap2pi.

◆ setXY()

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 56 of file CSplineInterpolator1D.h.

References ASSERT_EQUAL_, m_x2y, MRPT_END, and MRPT_START.

Referenced by CSplineInterpolator1D().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::math::CSplineInterpolator1D::className = "mrpt::math" "::" "CSplineInterpolator1D"

static

Definition at line 26 of file CSplineInterpolator1D.h.

◆ m_wrap2pi

bool mrpt::math::CSplineInterpolator1D::m_wrap2pi

private

Whether to wrap "y".

Definition at line 33 of file CSplineInterpolator1D.h.

Referenced by getWrap2pi(), and setWrap2pi().

◆ m_x2y

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

private

The placeholders for the data.

Definition at line 30 of file CSplineInterpolator1D.h.

Referenced by clear(), and setXY().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::math::CSplineInterpolator1D::runtimeClassId

staticprotected

Definition at line 26 of file CSplineInterpolator1D.h.

Detailed Description

Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CSplineInterpolator1D() [1/2]

◆ CSplineInterpolator1D() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ appendXY()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getWrap2pi()

◆ query()

◆ queryVector()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setWrap2pi()

◆ setXY()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_wrap2pi

◆ m_x2y

◆ runtimeClassId