Template Class CPoseInterpolatorBase

void insert(const mrpt::Clock::time_point &t, const pose_t &p): Inserts a new pose in the sequence. It overwrites any previously existing pose at exactly the same time.

void insert(const mrpt::Clock::time_point &t, const cpose_t &p): Overload (slower)

pose_t &interpolate(const mrpt::Clock::time_point &t, pose_t &out_interp, bool &out_valid_interp) const

Returns the pose at a given time, or interpolates using splines if there is not an exact match.

Parameters:

t – The time of the point to interpolate.
out_interp – The output interpolated pose.
out_valid_interp – Whether there was information enough to compute the interpolation.

Returns:

A reference to out_interp

cpose_t &interpolate(const mrpt::Clock::time_point &t, cpose_t &out_interp, bool &out_valid_interp) const

void clear(): Clears the current sequence of poses

void setMaxTimeInterpolation(const mrpt::Clock::duration &time): Set value of the maximum time to consider interpolation. If set to a negative value, the check is disabled (default behavior).

mrpt::Clock::duration getMaxTimeInterpolation(): Set value of the maximum time to consider interpolation

bool getPreviousPoseWithMinDistance(const mrpt::Clock::time_point &t, double distance, pose_t &out_pose)

Get the previous CPose3D in the map with a minimum defined distance.

Returns:: true if pose was found, false otherwise

bool getPreviousPoseWithMinDistance(const mrpt::Clock::time_point &t, double distance, cpose_t &out_pose)

bool saveToTextFile(const std::string &s) const

Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces:

Timestamp: As a “double time_t”
x y z: The 3D position in meters.
yaw pitch roll: The angles, in radians

See also

loadFromTextFile

Returns:: true on success, false on any error.

bool saveToTextFile_TUM(const std::string &s) const

Saves the points in the interpolator to a text file in the “TUM” dataset format: each row contains these elements separated by spaces:

Timestamp: As a “double time_t”
x y z: The 3D position in meters.
q_x q_y q_z q_w: Quaternion

See also

loadFromTextFile, saveTextFile_TUM

Returns:: true on success, false on any error.

bool saveInterpolatedToTextFile(const std::string &s, const mrpt::Clock::duration &period) const

Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds.