deflated.cpp
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34 
35 #include <settlerlib/deflated.h>
36 #include <ros/console.h>
37 
38 using namespace settlerlib;
39 
40 bool Deflated::interp(const Deflated& before, const Deflated& after,
41  const ros::Time& target, std::vector<double>& result)
42 {
43  if (before.channels_.size() != after.channels_.size())
44  return false;
45 
46  if (after.header.stamp < target)
47  return false;
48 
49  if (before.header.stamp > target)
50  return false;
51 
52  if (before.header.stamp == after.header.stamp)
53  {
54  result = before.channels_;
55  return true;
56  }
57 
58  double before_factor = (after.header.stamp - target).toSec() / (after.header.stamp - before.header.stamp).toSec();
59  double after_factor = (target - before.header.stamp).toSec() / (after.header.stamp - before.header.stamp).toSec();
60 
61  const unsigned int N = before.channels_.size();
62  result.resize(N);
63  for (unsigned int i=0; i<N; i++)
64  result[i] = before_factor*before.channels_[i] + after_factor*after.channels_[i];
65  return true;
66 }
static bool interp(const Deflated &before, const Deflated &after, const ros::Time &target, std::vector< double > &result)
Linear interpolation between to deflated samples.
Definition: deflated.cpp:40
std_msgs::Header header
Definition: deflated.h:47
std::vector< double > channels_
Definition: deflated.h:48


settlerlib
Author(s): Vijay Pradeep
autogenerated on Thu Jun 6 2019 19:17:23