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 28 of file CSplineInterpolator1D.h.

#include <mrpt/math/CSplineInterpolator1D.h>

Inheritance diagram for mrpt::math::CSplineInterpolator1D:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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
mrpt::utils::CObject::Ptr	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). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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. 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< CSplineInterpolator1D >

using	ConstPtr = std::shared_ptr< const CSplineInterpolator1D >

static mrpt::utils::CLASSINIT	_init_CSplineInterpolator1D

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CSplineInterpolator1D"

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

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

static mrpt::utils::CObject *	CreateObject ()

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

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

virtual mrpt::utils::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 CSplineInterpolator1D >

Definition at line 30 of file CSplineInterpolator1D.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 30 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 42 of file CSplineInterpolator1D.h.

References setXY().

Here is the call graph for this function:

◆ CSplineInterpolator1D() [2/2]

CSplineInterpolator1D::CSplineInterpolator1D ( bool wrap2pi = false )

Constructor.

Definition at line 34 of file CSplineInterpolator1D.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ appendXY()

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

Append a new point:

Definition at line 41 of file CSplineInterpolator1D.cpp.

◆ clear()

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

inline

Clears all stored points.

Definition at line 75 of file CSplineInterpolator1D.h.

References m_x2y.

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 30 of file CSplineInterpolator1D.h.

◆ CreateObject()

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

static

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ getWrap2pi()

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

inline

Return the wrap property.

Definition at line 55 of file CSplineInterpolator1D.h.

References m_wrap2pi.

◆ operator delete() [1/3]

void mrpt::math::CSplineInterpolator1D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator delete() [2/3]

void mrpt::math::CSplineInterpolator1D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator delete() [3/3]

void mrpt::math::CSplineInterpolator1D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator delete[]()

void mrpt::math::CSplineInterpolator1D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator new() [1/3]

static void* mrpt::math::CSplineInterpolator1D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator new() [2/3]

void* mrpt::math::CSplineInterpolator1D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator new() [3/3]

void* mrpt::math::CSplineInterpolator1D::operator new ( size_t size )

inline

Definition at line 30 of file CSplineInterpolator1D.h.

◆ operator new[]()

void* mrpt::math::CSplineInterpolator1D::operator new[] ( size_t size )

inline

Definition at line 30 of file CSplineInterpolator1D.h.

◆ 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 45 of file CSplineInterpolator1D.cpp.

References mrpt::math::spline().

Referenced by queryVector().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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 90 of file CSplineInterpolator1D.h.

References query().

Here is the call graph for this function:

◆ readFromStream()

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

overrideprotectedvirtual

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.

Definition at line 125 of file CSplineInterpolator1D.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 53 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 60 of file CSplineInterpolator1D.h.

References ASSERT_EQUAL_, m_x2y, MRPT_END, and MRPT_START.

Referenced by CSplineInterpolator1D().

Here is the caller graph for this function:

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

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

overrideprotectedvirtual

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 nullptr, 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.

Definition at line 110 of file CSplineInterpolator1D.cpp.

Member Data Documentation

◆ _init_CSplineInterpolator1D

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

staticprotected

Definition at line 30 of file CSplineInterpolator1D.h.

◆ className

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

static

Definition at line 30 of file CSplineInterpolator1D.h.

◆ m_wrap2pi

bool mrpt::math::CSplineInterpolator1D::m_wrap2pi

private

Whether to wrap "y".

Definition at line 37 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 34 of file CSplineInterpolator1D.h.

Referenced by clear(), and setXY().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::math::CSplineInterpolator1D::runtimeClassId

staticprotected

Definition at line 30 of file CSplineInterpolator1D.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CSplineInterpolator1D() [1/2]

◆ CSplineInterpolator1D() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ appendXY()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getWrap2pi()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ query()

◆ queryVector()

◆ readFromStream()

◆ setWrap2pi()

◆ setXY()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CSplineInterpolator1D

◆ className

◆ m_wrap2pi

◆ m_x2y

◆ runtimeClassId