class mrpt::poses::CPose2DInterpolator

Python API: mrpt.poses.CPose2DInterpolator

Overview

This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses).

It can also interpolate SE(2) poses over time using linear, splines or SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod() Usage:

• Insert new poses into the sequence with CPose2DInterpolator::insert()

• Query an exact/interpolated pose with CPose2DInterpolator::interpolate(). Example:

  CPose2DInterpolator     path;
  
  path.setInterpolationMethod( CPose2DInterpolator::imSplineSlerp );
  
  path.insert( t0, mrpt::math::TPose2D(...) );
  path.insert( t1, mrpt::math::TPose2D(...) );
  
  mrpt::math::TPose2D p;
  bool valid;
  
  std::cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << "\n";

Time is represented with mrpt::Clock::time_point. See mrpt::system for methods and utilities to manage these time references.

See TInterpolatorMethod for the list of interpolation methods. The default method at constructor is “imLinearSlerp”.

See also:

CPoseOrPoint

#include <mrpt/poses/CPose2DInterpolator.h>

class CPose2DInterpolator:
    public mrpt::serialization::CSerializable,
    public mrpt::poses::CPoseInterpolatorBase
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::poses ::CPose2DInterpolator> Ptr;
    typedef std::shared_ptr<const mrpt::poses ::CPose2DInterpolator> ConstPtr;
    typedef std::unique_ptr<mrpt::poses ::CPose2DInterpolator> UniquePtr;
    typedef std::unique_ptr<const mrpt::poses ::CPose2DInterpolator> ConstUniquePtr;

    // fields

    static constexpr const char* className = "mrpt::poses" "::" "CPose2DInterpolator";

    // methods

    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;
    virtual mrpt::rtti::CObject* clone() const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef typename Lie::SE<DIM>::light_type pose_t;
    typedef typename Lie::SE<DIM>::type cpose_t;
    typedef typename Lie::Euclidean<DIM>::light_type point_t;
    typedef std::pair<mrpt::Clock::time_point, pose_t> TTimePosePair;
    typedef std::map<mrpt::Clock::time_point, pose_t> TPath;
    typedef typename TPath::iterator iterator;
    typedef typename TPath::const_iterator const_iterator;
    typedef typename TPath::reverse_iterator reverse_iterator;
    typedef typename TPath::const_reverse_iterator const_reverse_iterator;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    iterator begin();
    const_iterator begin() const;
    const_iterator cbegin() const;
    iterator end();
    const_iterator end() const;
    const_iterator cend() const;
    reverse_iterator rbegin();
    const_reverse_iterator rbegin() const;
    reverse_iterator rend();
    const_reverse_iterator rend() const;
    iterator lower_bound(const mrpt::Clock::time_point& t);
    const_iterator lower_bound(const mrpt::Clock::time_point& t) const;
    iterator upper_bound(const mrpt::Clock::time_point& t);
    const_iterator upper_bound(const mrpt::Clock::time_point& t) const;
    iterator erase(iterator element_to_erase);
    size_t size() const;
    bool empty() const;
    iterator find(const mrpt::Clock::time_point& t);
    const_iterator find(const mrpt::Clock::time_point& t) const;
    pose_t& at(const mrpt::Clock::time_point& t);
    const pose_t& at(const mrpt::Clock::time_point& t) const;
    void insert(const mrpt::Clock::time_point& t, const pose_t& p);
    void insert(const mrpt::Clock::time_point& t, const cpose_t& p);
    pose_t& interpolate(const mrpt::Clock::time_point& t, pose_t& out_interp, bool& out_valid_interp) const;
    cpose_t& interpolate(const mrpt::Clock::time_point& t, cpose_t& out_interp, bool& out_valid_interp) const;
    void clear();
    void setMaxTimeInterpolation(const mrpt::Clock::duration& time);
    mrpt::Clock::duration getMaxTimeInterpolation();
    bool getPreviousPoseWithMinDistance(const mrpt::Clock::time_point& t, double distance, pose_t& out_pose);
    bool getPreviousPoseWithMinDistance(const mrpt::Clock::time_point& t, double distance, cpose_t& out_pose);
    bool saveToTextFile(const std::string& s) const;
    bool saveToTextFile_TUM(const std::string& s) const;
    bool saveInterpolatedToTextFile(const std::string& s, const mrpt::Clock::duration& period) const;
    bool loadFromTextFile(const std::string& s);
    bool loadFromTextFile_TUM(const std::string& s);
    void getBoundingBox(point_t& minCorner, point_t& maxCorner) const;
    void setInterpolationMethod(TInterpolatorMethod method);
    TInterpolatorMethod getInterpolationMethod() const;
    void filter(unsigned int component, unsigned int samples);

Typedefs

typedef std::shared_ptr<mrpt::poses ::CPose2DInterpolator> Ptr

A type for the associated smart pointer.

Methods

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

Returns information about the class of an object in runtime.

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

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