test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/system/os.h>
#include <mrpt/system/datetime.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/math/CSplineInterpolator1D.h>
#include <mrpt/math/interp_fit.hpp>
#include <mrpt/math/utils.h>
#include <mrpt/random.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <iostream>
 
using namespace mrpt::gui;
using namespace mrpt::random;
using namespace mrpt::math;
using namespace std;
 
// ------------------------------------------------------
//                              TestCapture
// ------------------------------------------------------
void TestCPose3DInterpolation()
{
        mrpt::system::TTimeStamp iniTs = mrpt::system::now();
        mrpt::system::TTimeStamp ts = iniTs;
        mrpt::system::TTimeStamp ots = iniTs;
        mrpt::poses::CPose3D pose(0, 0, 0, 0, 0, 0);
        mrpt::poses::CPose3DInterpolator poseInt;
        std::vector<mrpt::poses::CPose3D> p;
        mrpt::poses::CPose3D outPose(0, 0, 0, 0, 0, 0);
        bool valid;
 
        FILE* f = mrpt::system::os::fopen("interpolation.txt", "wt");
 
        // Set the maximum value of the interval time for considering interpolation
        poseInt.setMaxTimeInterpolation(1.0);
 
        poseInt.insert(ts, pose);  // First point
 
        ts += 1e7;
        pose.setFromValues(1, 1, 0, 0, 1, 0);
        poseInt.insert(ts, pose);  // Second point
 
        ts += 1e7;
        pose.setFromValues(2, 2.5, 1, 0, 1.3, 0);
        poseInt.insert(ts, pose);  // Third point
 
        ts += 1e7;
        pose.setFromValues(3, 1.7, 2, 0, 1.57, 0);
        poseInt.insert(ts, pose);  // Fourth point
 
        unsigned int i;
        for (i = 0, ots = iniTs; ots <= iniTs + 3e7; ots += 1e6, i++)
        {
                poseInt.interpolate(ots, outPose, valid);
                p.push_back(outPose);
                mrpt::system::os::fprintf(
                        f, "%d %f %f %f %f %f %f\n", i, outPose.x(), outPose.y(),
                        outPose.z(), outPose.yaw(), outPose.pitch(), outPose.roll());
        }
 
        mrpt::system::os::fclose(f);
 
}  // end TestCPose3DInterpolation
 
void TestSplineInterpolation()
{
        FILE* f = mrpt::system::os::fopen("out2", "wt");
 
        CVectorDouble x, y;
        double t;
        x.resize(4);
        y.resize(4);
 
        // x[0] = 0.0;  x[1] = 1.0;     x[2] = 2.0;     x[3] = 4.0;
        // y[0] = 0.0;  y[1] = 1.0;     y[2] = 1.8;     y[3] = 1.6;
 
        x[0] = -1.5;
        x[1] = -0.5;
        x[2] = 0.5;
        x[3] = 1.5;
        y[0] = 3.14;
        y[1] = -3.10;
        y[2] = -3.05;
        y[3] = 3.10;
 
        CVectorDouble ts, ys_interp;
 
        for (t = x[1]; t <= x[2]; t += 0.01)
        {
                double w = mrpt::math::spline(t, x, y);  // wrap no
                //              double w = mrpt::math::spline(t, x, y, true); // wrap yes
                ts.push_back(t);
                ys_interp.push_back(w);
                mrpt::system::os::fprintf(f, "%f %f\n", t, w);
        }
 
        mrpt::system::os::fclose(f);
        cout << "Done" << endl;
 
#if MRPT_HAS_WXWIDGETS
        CDisplayWindowPlots figure("Interpolation results");
        figure.plot(x, y, "r.4", "true points");
        figure.plot(ts, ys_interp, "b", "interp");
 
        figure.axis_equal();
        figure.axis_fit();
 
        figure.waitForKey();
#endif
}
 
void TestSplineInterpolationVector()
{
        const size_t N = 15;
        CVectorDouble data_x, data_y(N);
 
        // Create random data:
        mrpt::math::linspace(-20.0, 20.0, N, data_x);
        getRandomGenerator().drawGaussian1DVector(data_y, 2.0, 1.0);
 
        // Create interpolator
        mrpt::math::CSplineInterpolator1D interp(data_x, data_y);
 
        // Generate sequence of where to interpolate:
        CVectorDouble xs;
        mrpt::math::linspace(-20.0, 20.0, 500, xs);
 
        CVectorDouble ys;
        bool valid = interp.queryVector(xs, ys);
        ASSERT_(valid);
 
#if MRPT_HAS_WXWIDGETS
        CDisplayWindowPlots figure("Interpolation results");
        figure.plot(data_x, data_y, "r.6", "true points");
        figure.plot(xs, ys, "b", "interp");
 
        figure.axis_equal();
        figure.axis_fit();
 
        figure.waitForKey();
#endif
}
 
int main(int argc, char** argv)
{
        try
        {
                TestSplineInterpolationVector();
                // TestSplineInterpolation();
                // TestCPose3DInterpolation();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}