interp_fit.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
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   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/utils_defs.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/wrap2pi.h>

namespace mrpt
{
namespace math
{
/** @addtogroup interpolation_grp Interpolation, least-squares fit, splines
  * \ingroup mrpt_base_grp
  *  @{ */

/** Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced),
 * to obtain the approximation of the sequence at the point "x".
  *  If the point "x" is out of the range [x0,x1], the closest extreme "ys"
 * value is returned.
  * \note Implementation in `#include <mrpt/math/interp_fit.hpp>`
  * \sa spline, interpolate2points
  */
template <class T, class VECTOR>
T interpolate(const T& x, const VECTOR& ys, const T& x0, const T& x1);

/** Linear interpolation/extrapolation: evaluates at "x" the line
 * (x0,y0)-(x1,y1).
  *  If wrap2pi is true, output is wrapped to ]-pi,pi] (It is assumed that input
 * "y" values already are in the correct range).
  * \sa spline, interpolate, leastSquareLinearFit
  */
double interpolate2points(
        const double x, const double x0, const double y0, const double x1,
        const double y1, bool wrap2pi = false);

/** Interpolates the value of a function in a point "t" given 4 SORTED points
 * where "t" is between the two middle points
  *  If wrap2pi is true, output "y" values are wrapped to ]-pi,pi] (It is
 * assumed that input "y" values already are in the correct range).
  * \sa leastSquareLinearFit
  * \note Implementation in `#include <mrpt/math/interp_fit.hpp>`
  */
template <typename NUMTYPE, class VECTORLIKE>
NUMTYPE spline(
        const NUMTYPE t, const VECTORLIKE& x, const VECTORLIKE& y,
        bool wrap2pi = false);

/** Interpolates or extrapolates using a least-square linear fit of the set of
 * values "x" and "y", evaluated at a single point "t".
  *  The vectors x and y must have size >=2, and all values of "x" must be
 * different.
  *  If wrap2pi is true, output "y" values are wrapped to ]-pi,pi] (It is
 * assumed that input "y" values already are in the correct range).
  * \sa spline
  * \sa getRegressionLine, getRegressionPlane
  * \note Implementation in `#include <mrpt/math/interp_fit.hpp>`
  */
template <typename NUMTYPE, class VECTORLIKE, int NUM_POINTS = Eigen::Dynamic>
NUMTYPE leastSquareLinearFit(
        const NUMTYPE t, const VECTORLIKE& x, const VECTORLIKE& y,
        bool wrap2pi = false);

/** Interpolates or extrapolates using a least-square linear fit of the set of
 * values "x" and "y", evaluated at a sequence of points "ts" and returned at
 * "outs".
  *  If wrap2pi is true, output "y" values are wrapped to ]-pi,pi] (It is
 * assumed that input "y" values already are in the correct range).
  * \sa spline, getRegressionLine, getRegressionPlane
  * \note Implementation in `#include <mrpt/math/interp_fit.hpp>`
  */
template <class VECTORLIKE1, class VECTORLIKE2, class VECTORLIKE3,
                  int NUM_POINTS = Eigen::Dynamic>
void leastSquareLinearFit(
        const VECTORLIKE1& ts, VECTORLIKE2& outs, const VECTORLIKE3& x,
        const VECTORLIKE3& y, bool wrap2pi = false);

/** @} */  // end grouping interpolation_grp

}  // End of MATH namespace
}  // End of namespace