grid_map::bicubic Namespace Reference

Classes
struct	DataMatrix
struct	IndicesMatrix

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

Functions
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)

Variables
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: 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

Enumeration Type Documentation

enum grid_map::bicubic::Dim2D : int

strong

Enumerator
X
Y

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

static

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: https://en.wikipedia.org/wiki/Bicubic_interpolation

Definition at line 159 of file CubicInterpolation.hpp.