Base class for SE(2)/SE(3) interpolators.
See docs for derived classes.
Definition at line 52 of file CPoseInterpolatorBase.h.
#include <mrpt/poses/CPoseInterpolatorBase.h>
Public Member Functions | |
CPoseInterpolatorBase () | |
Default ctor: empty sequence of poses. More... | |
void | insert (mrpt::system::TTimeStamp t, const pose_t &p) |
Inserts a new pose in the sequence. More... | |
void | insert (mrpt::system::TTimeStamp t, const cpose_t &p) |
Overload (slower) More... | |
pose_t & | interpolate (mrpt::system::TTimeStamp t, pose_t &out_interp, bool &out_valid_interp) const |
Returns the pose at a given time, or interpolates using splines if there is not an exact match. More... | |
cpose_t & | interpolate (mrpt::system::TTimeStamp t, cpose_t &out_interp, bool &out_valid_interp) const |
void | clear () |
Clears the current sequence of poses. More... | |
void | setMaxTimeInterpolation (double time) |
Set value of the maximum time to consider interpolation. More... | |
double | getMaxTimeInterpolation () |
Set value of the maximum time to consider interpolation. More... | |
bool | getPreviousPoseWithMinDistance (const mrpt::system::TTimeStamp &t, double distance, pose_t &out_pose) |
Get the previous CPose3D in the map with a minimum defined distance. More... | |
bool | getPreviousPoseWithMinDistance (const mrpt::system::TTimeStamp &t, double distance, cpose_t &out_pose) |
bool | saveToTextFile (const std::string &s) const |
Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces: More... | |
bool | saveInterpolatedToTextFile (const std::string &s, double period) const |
Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds. More... | |
bool | loadFromTextFile (const std::string &s) |
Loads from a text file, in the format described by saveToTextFile. More... | |
void | getBoundingBox (point_t &minCorner, point_t &maxCorner) const |
Computes the bounding box in all Euclidean coordinates of the whole path. More... | |
void | setInterpolationMethod (TInterpolatorMethod method) |
Change the method used to interpolate the robot path. More... | |
TInterpolatorMethod | getInterpolationMethod () const |
Returns the currently set interpolation method. More... | |
void | filter (unsigned int component, unsigned int samples) |
Filters by averaging one of the components of the pose data within the interpolator. More... | |
Protected Member Functions | |
void | impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const |
void | impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const |
void | impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const |
Protected Attributes | |
TPath | m_path |
The sequence of poses. More... | |
double | maxTimeInterpolation |
Maximum time considered to interpolate. More... | |
TInterpolatorMethod | m_method |
using mrpt::poses::CPoseInterpolatorBase< DIM >::const_iterator = typename TPath::const_iterator |
Definition at line 71 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::const_reverse_iterator = typename TPath::const_reverse_iterator |
Definition at line 73 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::cpose_t = typename mrpt::poses::SE_traits<DIM>::pose_t |
Definition at line 64 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::iterator = typename TPath::iterator |
Definition at line 70 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::point_t = typename mrpt::poses::SE_traits<DIM>::point_t |
TPoint2D or TPoint3D.
Definition at line 66 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::pose_t = typename mrpt::poses::SE_traits<DIM>::lightweight_pose_t |
TPose2D or TPose3D.
Definition at line 62 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::reverse_iterator = typename TPath::reverse_iterator |
Definition at line 72 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::TPath = std::map<mrpt::system::TTimeStamp, pose_t> |
Definition at line 69 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPoseInterpolatorBase< DIM >::TTimePosePair = std::pair<mrpt::system::TTimeStamp, pose_t> |
Definition at line 68 of file CPoseInterpolatorBase.h.
mrpt::poses::CPoseInterpolatorBase< DIM >::CPoseInterpolatorBase |
Default ctor: empty sequence of poses.
Definition at line 24 of file CPoseInterpolatorBase.hpp.
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Definition at line 75 of file CPoseInterpolatorBase.h.
Referenced by mrpt::topography::path_from_rtk_gps(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
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Definition at line 76 of file CPoseInterpolatorBase.h.
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Definition at line 77 of file CPoseInterpolatorBase.h.
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Definition at line 80 of file CPoseInterpolatorBase.h.
void mrpt::poses::CPoseInterpolatorBase< DIM >::clear |
Clears the current sequence of poses.
Definition at line 30 of file CPoseInterpolatorBase.hpp.
Referenced by mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::topography::path_from_rtk_gps(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
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Definition at line 110 of file CPoseInterpolatorBase.h.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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Definition at line 78 of file CPoseInterpolatorBase.h.
Referenced by mrpt::topography::path_from_rtk_gps().
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Definition at line 79 of file CPoseInterpolatorBase.h.
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Definition at line 103 of file CPoseInterpolatorBase.h.
Referenced by mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
void mrpt::poses::CPoseInterpolatorBase< DIM >::filter | ( | unsigned int | component, |
unsigned int | samples | ||
) |
Filters by averaging one of the components of the pose data within the interpolator.
The width of the filter is set by the number of samples.
component | [IN] The index of the component to filter: 0 (x), 1 (y), 2 (z), 3 (yaw), 4 (pitch) or 5 (roll) |
samples | [IN] The width of the average filter. |
Definition at line 360 of file CPoseInterpolatorBase.hpp.
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Definition at line 111 of file CPoseInterpolatorBase.h.
Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::getPreviousPoseWithMinDistance().
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Definition at line 112 of file CPoseInterpolatorBase.h.
void mrpt::poses::CPoseInterpolatorBase< DIM >::getBoundingBox | ( | point_t & | minCorner, |
point_t & | maxCorner | ||
) | const |
Computes the bounding box in all Euclidean coordinates of the whole path.
std::exception | On empty path |
Definition at line 327 of file CPoseInterpolatorBase.hpp.
TInterpolatorMethod mrpt::poses::CPoseInterpolatorBase< DIM >::getInterpolationMethod |
Returns the currently set interpolation method.
Definition at line 354 of file CPoseInterpolatorBase.hpp.
double mrpt::poses::CPoseInterpolatorBase< DIM >::getMaxTimeInterpolation |
Set value of the maximum time to consider interpolation.
Definition at line 219 of file CPoseInterpolatorBase.hpp.
bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance | ( | const mrpt::system::TTimeStamp & | t, |
double | distance, | ||
cpose_t & | out_pose | ||
) |
Definition at line 172 of file CPoseInterpolatorBase.hpp.
bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance | ( | const mrpt::system::TTimeStamp & | t, |
double | distance, | ||
pose_t & | out_pose | ||
) |
Get the previous CPose3D in the map with a minimum defined distance.
Definition at line 181 of file CPoseInterpolatorBase.hpp.
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Definition at line 46 of file CPose2DInterpolator.cpp.
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Definition at line 57 of file CPose3DInterpolator.cpp.
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void mrpt::poses::CPoseInterpolatorBase< DIM >::insert | ( | mrpt::system::TTimeStamp | t, |
const cpose_t & | p | ||
) |
Overload (slower)
Definition at line 36 of file CPoseInterpolatorBase.hpp.
void mrpt::poses::CPoseInterpolatorBase< DIM >::insert | ( | mrpt::system::TTimeStamp | t, |
const pose_t & | p | ||
) |
Inserts a new pose in the sequence.
It overwrites any previously existing pose at exactly the same time.
Definition at line 41 of file CPoseInterpolatorBase.hpp.
Referenced by mrpt::topography::path_from_rtk_gps(), TEST(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
CPoseInterpolatorBase< DIM >::cpose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate | ( | mrpt::system::TTimeStamp | t, |
cpose_t & | out_interp, | ||
bool & | out_valid_interp | ||
) | const |
Definition at line 50 of file CPoseInterpolatorBase.hpp.
CPoseInterpolatorBase< DIM >::pose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate | ( | mrpt::system::TTimeStamp | t, |
pose_t & | out_interp, | ||
bool & | out_valid_interp | ||
) | const |
Returns the pose at a given time, or interpolates using splines if there is not an exact match.
t | The time of the point to interpolate. |
out_interp | The output interpolated pose. |
out_valid_interp | Whether there was information enough to compute the interpolation. |
Definition at line 59 of file CPoseInterpolatorBase.hpp.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and TEST().
bool mrpt::poses::CPoseInterpolatorBase< DIM >::loadFromTextFile | ( | const std::string & | s | ) |
Loads from a text file, in the format described by saveToTextFile.
std::exception | On invalid file format |
Definition at line 293 of file CPoseInterpolatorBase.hpp.
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Definition at line 85 of file CPoseInterpolatorBase.h.
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Definition at line 89 of file CPoseInterpolatorBase.h.
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Definition at line 81 of file CPoseInterpolatorBase.h.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
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Definition at line 82 of file CPoseInterpolatorBase.h.
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Definition at line 83 of file CPoseInterpolatorBase.h.
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Definition at line 84 of file CPoseInterpolatorBase.h.
bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile | ( | const std::string & | s, |
double | period | ||
) | const |
Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds.
Definition at line 254 of file CPoseInterpolatorBase.hpp.
bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveToTextFile | ( | const std::string & | s | ) | const |
Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces:
Definition at line 225 of file CPoseInterpolatorBase.hpp.
void mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod | ( | TInterpolatorMethod | method | ) |
Change the method used to interpolate the robot path.
The default method at construction is "imSpline".
Definition at line 348 of file CPoseInterpolatorBase.hpp.
Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), and mrpt::topography::path_from_rtk_gps().
void mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation | ( | double | time | ) |
Set value of the maximum time to consider interpolation.
If set to a negative value, the check is disabled (default behavior).
Definition at line 212 of file CPoseInterpolatorBase.hpp.
Referenced by mrpt::topography::path_from_rtk_gps().
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Definition at line 109 of file CPoseInterpolatorBase.h.
Referenced by mrpt::topography::path_from_rtk_gps(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), TEST(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().
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Definition at line 94 of file CPoseInterpolatorBase.h.
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Definition at line 98 of file CPoseInterpolatorBase.h.
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Definition at line 208 of file CPoseInterpolatorBase.h.
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The sequence of poses.
Definition at line 203 of file CPoseInterpolatorBase.h.
Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::begin(), mrpt::poses::CPoseInterpolatorBase< 3 >::cbegin(), mrpt::poses::CPoseInterpolatorBase< 3 >::cend(), mrpt::poses::CPoseInterpolatorBase< 3 >::empty(), mrpt::poses::CPoseInterpolatorBase< 3 >::end(), mrpt::poses::CPoseInterpolatorBase< 3 >::erase(), mrpt::poses::CPoseInterpolatorBase< 3 >::find(), mrpt::poses::CPoseInterpolatorBase< 3 >::lower_bound(), mrpt::poses::CPoseInterpolatorBase< 3 >::rbegin(), mrpt::poses::CPoseInterpolatorBase< 3 >::rend(), mrpt::poses::CPoseInterpolatorBase< 3 >::size(), and mrpt::poses::CPoseInterpolatorBase< 3 >::upper_bound().
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Maximum time considered to interpolate.
If the difference between the desired timestamp where to interpolate and the next timestamp stored in the map is bigger than this value, the interpolation will not be done.
Definition at line 207 of file CPoseInterpolatorBase.h.
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