Detailed Description
Classes | |
| class | mrpt::math::CSplineInterpolator1D |
| A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. More... | |
| class | mrpt::poses::CPose2DInterpolator |
| This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). More... | |
| class | mrpt::poses::CPose3DInterpolator |
| This class stores a time-stamped trajectory in SE(3) (CPose3D poses). More... | |
| class | mrpt::poses::CPoseInterpolatorBase< DIM > |
| Base class for SE(2)/SE(3) interpolators. More... | |
Functions | |
| template<class T , class VECTOR > | |
| T | mrpt::math::interpolate (const T &x, const VECTOR &ys, const T &x0, const T &x1) |
| Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximation of the sequence at the point "x". More... | |
| double | mrpt::math::interpolate2points (const double x, const double x0, const double y0, const double x1, const double y1, bool wrap2pi=false) |
| Linear interpolation/extrapolation: evaluates at "x" the line (x0,y0)-(x1,y1). More... | |
| template<typename NUMTYPE , class VECTORLIKE > | |
| NUMTYPE | mrpt::math::spline (const NUMTYPE t, const VECTORLIKE &x, const VECTORLIKE &y, 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). More... | |
| template<typename NUMTYPE , class VECTORLIKE , int NUM_POINTS = Eigen::Dynamic> | |
| NUMTYPE | mrpt::math::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 single point "t". More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class VECTORLIKE3 , int NUM_POINTS = Eigen::Dynamic> | |
| void | mrpt::math::leastSquareLinearFit (const VECTORLIKE1 &ts, VECTORLIKE2 &outs, const VECTORLIKE3 &x, const VECTORLIKE3 &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". More... | |
Function Documentation
◆ interpolate()
| T mrpt::math::interpolate | ( | const T & | x, |
| const VECTOR & | ys, | ||
| const T & | x0, | ||
| const T & | x1 | ||
| ) |
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>
- See also
- spline, interpolate2points
Definition at line 19 of file interp_fit.hpp.
References ASSERT_, MRPT_END, and MRPT_START.
Referenced by mrpt::img::hot2rgb(), mrpt::poses::CPoseInterpolatorBase< 3 >::interpolate(), mrpt::img::jet2rgb(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveInterpolatedToTextFile().
◆ interpolate2points()
| double mrpt::math::interpolate2points | ( | const double | x, |
| const double | x0, | ||
| const double | y0, | ||
| const double | x1, | ||
| const double | y1, | ||
| bool | wrap2pi = false |
||
| ) |
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).
- See also
- spline, interpolate, leastSquareLinearFit
Definition at line 436 of file math.cpp.
References MRPT_END, MRPT_START, THROW_EXCEPTION_FMT, and mrpt::math::wrapToPi().
Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation().
◆ leastSquareLinearFit() [1/2]
| NUMTYPE mrpt::math::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 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).
- See also
- spline
- getRegressionLine, getRegressionPlane
- Note
- Implementation in
#include <mrpt/math/interp_fit.hpp>
Definition at line 121 of file interp_fit.hpp.
References ASSERT_, inv(), MRPT_END, MRPT_START, and mrpt::math::wrapToPi().
◆ leastSquareLinearFit() [2/2]
| void mrpt::math::leastSquareLinearFit | ( | const VECTORLIKE1 & | ts, |
| VECTORLIKE2 & | outs, | ||
| const VECTORLIKE3 & | x, | ||
| const VECTORLIKE3 & | 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).
- See also
- spline, getRegressionLine, getRegressionPlane
- Note
- Implementation in
#include <mrpt/math/interp_fit.hpp>
Definition at line 158 of file interp_fit.hpp.
References ASSERT_, inv(), MRPT_END, MRPT_START, and mrpt::math::wrapToPi().
◆ spline()
| NUMTYPE mrpt::math::spline | ( | const NUMTYPE | t, |
| const VECTORLIKE & | x, | ||
| const VECTORLIKE & | y, | ||
| 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).
- See also
- leastSquareLinearFit
- Note
- Implementation in
#include <mrpt/math/interp_fit.hpp>
Definition at line 36 of file interp_fit.hpp.
References ASSERT_, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, M_2PI, M_PI, and mrpt::math::wrapToPi().
Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), and mrpt::math::CSplineInterpolator1D::query().