deflated.cpp

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#include <settlerlib/deflated.h>
#include <ros/console.h>

using namespace settlerlib;

bool Deflated::interp(const Deflated& before, const Deflated& after,
                      const ros::Time& target, std::vector<double>& result)
{
  if (before.channels_.size() != after.channels_.size())
    return false;

  if (after.header.stamp < target)
    return false;

  if (before.header.stamp > target)
    return false;

  if (before.header.stamp == after.header.stamp)
  {
    result = before.channels_;
    return true;
  }

  double before_factor = (after.header.stamp - target).toSec()  / (after.header.stamp - before.header.stamp).toSec();
  double after_factor  = (target - before.header.stamp).toSec() / (after.header.stamp - before.header.stamp).toSec();

  const unsigned int N = before.channels_.size();
  result.resize(N);
  for (unsigned int i=0; i<N; i++)
    result[i] = before_factor*before.channels_[i] + after_factor*after.channels_[i];
  return true;
}