Classes | Enumerations | Functions | Variables
grid_map::bicubic Namespace Reference


struct  DataMatrix
struct  IndicesMatrix


enum  Dim2D : int { Dim2D::X, Dim2D::Y }


void assembleFunctionValueMatrix (const DataMatrix &f, const DataMatrix &dfx, const DataMatrix &dfy, const DataMatrix &ddfxy, FunctionValueMatrix *functionValues)
void bindIndicesToRange (const GridMap &gridMap, IndicesMatrix *indices)
bool computeNormalizedCoordinates (const GridMap &gridMap, const Index &originIndex, const Position &queriedPosition, Position *normalizedCoordinates)
bool evaluateBicubicInterpolation (const GridMap &gridMap, const std::string &layer, const Position &queriedPosition, double *interpolatedValue)
double evaluatePolynomial (const FunctionValueMatrix &functionValues, double tx, double ty)
double firstOrderDerivativeAt (const Matrix &layerData, const Index &index, Dim2D dim, double resolution)
bool getClosestPointIndices (const GridMap &gridMap, const Position &queriedPosition, Index *index)
bool getFirstOrderDerivatives (const Matrix &layerData, const IndicesMatrix &indices, Dim2D dim, double resolution, DataMatrix *derivatives)
bool getFunctionValues (const Matrix &layerData, const IndicesMatrix &indices, DataMatrix *data)
bool getMixedSecondOrderDerivatives (const Matrix &layerData, const IndicesMatrix &indices, double resolution, DataMatrix *derivatives)
bool getUnitSquareCornerIndices (const GridMap &gridMap, const Position &queriedPosition, IndicesMatrix *indicesMatrix)
double mixedSecondOrderDerivativeAt (const Matrix &layerData, const Index &index, double resolution)


static const Eigen::Matrix4d bicubicInterpolationMatrix

Detailed Description

BICUBIC INTERPOLATION ALGORITHM it does ensure continuity of the first derivatives. More expensive to compute than bicubic convolution interpolation see:

Enumeration Type Documentation

enum grid_map::bicubic::Dim2D : int

Definition at line 150 of file CubicInterpolation.hpp.

Function Documentation

void grid_map::bicubic::assembleFunctionValueMatrix ( const DataMatrix f,
const DataMatrix dfx,
const DataMatrix dfy,
const DataMatrix ddfxy,
FunctionValueMatrix functionValues 

Definition at line 428 of file CubicInterpolation.cpp.

void grid_map::bicubic::bindIndicesToRange ( const GridMap gridMap,
IndicesMatrix indices 

Definition at line 299 of file CubicInterpolation.cpp.

bool grid_map::bicubic::computeNormalizedCoordinates ( const GridMap gridMap,
const Index originIndex,
const Position queriedPosition,
Position normalizedCoordinates 

Definition at line 274 of file CubicInterpolation.cpp.

bool grid_map::bicubic::evaluateBicubicInterpolation ( const GridMap gridMap,
const std::string &  layer,
const Position queriedPosition,
double *  interpolatedValue 

Definition at line 158 of file CubicInterpolation.cpp.

double grid_map::bicubic::evaluatePolynomial ( const FunctionValueMatrix functionValues,
double  tx,
double  ty 

Definition at line 417 of file CubicInterpolation.cpp.

double grid_map::bicubic::firstOrderDerivativeAt ( const Matrix layerData,
const Index index,
Dim2D  dim,
double  resolution 

Definition at line 346 of file CubicInterpolation.cpp.

bool grid_map::bicubic::getClosestPointIndices ( const GridMap gridMap,
const Position queriedPosition,
Index index 

Definition at line 265 of file CubicInterpolation.cpp.

bool grid_map::bicubic::getFirstOrderDerivatives ( const Matrix layerData,
const IndicesMatrix indices,
Dim2D  dim,
double  resolution,
DataMatrix derivatives 

Definition at line 334 of file CubicInterpolation.cpp.

bool grid_map::bicubic::getFunctionValues ( const Matrix layerData,
const IndicesMatrix indices,
DataMatrix data 

Definition at line 290 of file CubicInterpolation.cpp.

bool grid_map::bicubic::getMixedSecondOrderDerivatives ( const Matrix layerData,
const IndicesMatrix indices,
double  resolution,
DataMatrix derivatives 

Definition at line 405 of file CubicInterpolation.cpp.

bool grid_map::bicubic::getUnitSquareCornerIndices ( const GridMap gridMap,
const Position queriedPosition,
IndicesMatrix indicesMatrix 

Definition at line 212 of file CubicInterpolation.cpp.

double grid_map::bicubic::mixedSecondOrderDerivativeAt ( const Matrix layerData,
const Index index,
double  resolution 

Definition at line 376 of file CubicInterpolation.cpp.

Variable Documentation

const Eigen::Matrix4d grid_map::bicubic::bicubicInterpolationMatrix
Initial value:
(Eigen::Matrix4d() << 1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
-3.0, 3.0, -2.0, -1.0,
2.0, -2.0, 1.0, 1.0).finished() }

Matrix for cubic interpolation. Taken from:

Definition at line 159 of file CubicInterpolation.hpp.

Author(s): P├ęter Fankhauser
autogenerated on Tue Jun 1 2021 02:13:27