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.