Functions | Variables
grid_map::bicubic_conv Namespace Reference

Functions

bool assembleFunctionValueMatrix (const GridMap &gridMap, const std::string &layer, const Position &queriedPosition, FunctionValueMatrix *data)
 
double convolve1D (double t, const Eigen::Vector4d &functionValues)
 
bool evaluateBicubicConvolutionInterpolation (const GridMap &gridMap, const std::string &layer, const Position &queriedPosition, double *interpolatedValue)
 
bool getIndicesOfMiddleKnot (const GridMap &gridMap, const Position &queriedPosition, Index *index)
 
bool getNormalizedCoordinates (const GridMap &gridMap, const Position &queriedPosition, Position *position)
 

Variables

static const Eigen::Matrix4d cubicInterpolationConvolutionMatrix
 

Detailed Description

BICUBIC CONVLUTION INTERPOLATION ALGORITHM also known as piecewise bicubic interpolation, it does not ensure continuity of the first derivatives. see: https://en.wikipedia.org/wiki/Bicubic_interpolation https://web.archive.org/web/20051024202307/http://www.geovista.psu.edu/sites/geocomp99/Gc99/082/gc_082.htm

Function Documentation

bool grid_map::bicubic_conv::assembleFunctionValueMatrix ( const GridMap gridMap,
const std::string &  layer,
const Position queriedPosition,
FunctionValueMatrix data 
)

Definition at line 85 of file CubicInterpolation.cpp.

double grid_map::bicubic_conv::convolve1D ( double  t,
const Eigen::Vector4d &  functionValues 
)

Definition at line 76 of file CubicInterpolation.cpp.

bool grid_map::bicubic_conv::evaluateBicubicConvolutionInterpolation ( const GridMap gridMap,
const std::string &  layer,
const Position queriedPosition,
double *  interpolatedValue 
)

Definition at line 48 of file CubicInterpolation.cpp.

bool grid_map::bicubic_conv::getIndicesOfMiddleKnot ( const GridMap gridMap,
const Position queriedPosition,
Index index 
)

Definition at line 136 of file CubicInterpolation.cpp.

bool grid_map::bicubic_conv::getNormalizedCoordinates ( const GridMap gridMap,
const Position queriedPosition,
Position position 
)

Definition at line 117 of file CubicInterpolation.cpp.

Variable Documentation

const Eigen::Matrix4d grid_map::bicubic_conv::cubicInterpolationConvolutionMatrix
static
Initial value:
{
(Eigen::Matrix4d() << 0.0, 2.0, 0.0, 0.0,
-1.0, 0.0, 1.0, 0.0,
2.0, -5.0, 4.0, -1.0,
-1.0, 3.0, -3.0, 1.0).finished() }

Matrix for cubic interpolation via convolution. Taken from: https://en.wikipedia.org/wiki/Bicubic_interpolation

Definition at line 70 of file CubicInterpolation.hpp.



grid_map_core
Author(s): P├ęter Fankhauser
autogenerated on Sat Apr 10 2021 02:14:08