settlerlib: settlerlib: deflated.cpp Source File

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00034 
00035 #include <settlerlib/deflated.h>
00036 #include <ros/console.h>
00037 
00038 using namespace settlerlib;
00039 
00040 bool Deflated::interp(const Deflated& before, const Deflated& after,
00041                       const ros::Time& target, std::vector<double>& result)
00042 {
00043   if (before.channels_.size() != after.channels_.size())
00044     return false;
00045 
00046   if (after.header.stamp < target)
00047     return false;
00048 
00049   if (before.header.stamp > target)
00050     return false;
00051 
00052   if (before.header.stamp == after.header.stamp)
00053   {
00054     result = before.channels_;
00055     return true;
00056   }
00057 
00058   double before_factor = (after.header.stamp - target).toSec()  / (after.header.stamp - before.header.stamp).toSec();
00059   double after_factor  = (target - before.header.stamp).toSec() / (after.header.stamp - before.header.stamp).toSec();
00060 
00061   const unsigned int N = before.channels_.size();
00062   result.resize(N);
00063   for (unsigned int i=0; i<N; i++)
00064     result[i] = before_factor*before.channels_[i] + after_factor*after.channels_[i];
00065   return true;
00066 }