Class CSplineInterpolator1D

Defined in File CSplineInterpolator1D.h

Inheritance Relationships

Base Type

public mrpt::serialization::CSerializable

Class Documentation

class CSplineInterpolator1D : public mrpt::serialization::CSerializable

A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. This class internally relies on mrpt::math::spline. Optionally the y coordinate can be set as wrapped in ]-pi,pi]. For querying interpolated points, see \ sa mrpt::math::spline, mrpt::poses::CPose3DInterpolator

Public Functions

template<class VECTOR> inline CSplineInterpolator1D(const VECTOR &initial_x, const VECTOR &initial_y, bool wrap2pi = false): Constructor with optional initial values.

CSplineInterpolator1D(bool wrap2pi = false): Constructor

inline void setWrap2pi(bool wrap): If set to true, the interpolated data will be wrapped to ]-pi,pi]

inline bool getWrap2pi(): Return the wrap property

template<class VECTOR> inline void setXY(const VECTOR &x, const VECTOR &y, bool clearPreviousContent = true): Set all the data at once . The vectors must have the same length.

void appendXY(double x, double y): Append a new point:

inline void clear(): Clears all stored points

double &query(double x, double &y, bool &out_valid) const

Query an interpolation of the curve at some “x”. The result is stored in “y”. If the “x” point is out of range, “valid_out” is set to false.