piecewise_linear_function.hpp
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00001 /*
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00035 
00036 /* \author Bastian Steder */
00037 
00038 
00039 namespace pcl {
00040 
00041 PiecewiseLinearFunction::PiecewiseLinearFunction(float factor, float offset) : factor_(factor), offset_(offset)
00042 {
00043 }
00044 
00045 inline float PiecewiseLinearFunction::getValue(float point) const
00046 {
00047   float vector_pos = factor_*point + offset_;
00048   float floored_vector_pos = floor(vector_pos);
00049   float interpolation_size = vector_pos-floored_vector_pos;
00050   int data_point_before = (std::max)(0, (std::min)(int(data_points_.size())-2, int(lrint(floored_vector_pos))));
00051   //cout << "Interpolating between "<<data_point_before<<" and "<<data_point_before+1<<" with value "
00052        //<< interpolation_size<<" (vector size is "<<data_points_.size()<<").\n";
00053   return data_points_[data_point_before]+interpolation_size*(data_points_[data_point_before+1]-data_points_[data_point_before]);
00054 }
00055 
00056 }  // end namespace pcl


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:31