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): Péter Fankhauser
autogenerated on Tue Jun 1 2021 02:13:27