Cubic interpolator. More...
#include <CubicInterpolator.h>
Public Member Functions | |
| CubicInterpolator (const std::map< double, T > &points={}) | |
| Constructor. More... | |
| CubicInterpolator (const CubicInterpolator &inst) | |
| Copy constructor. More... | |
| virtual std::shared_ptr< Interpolator< T, U > > | clone () const override |
| Clone this instance and get shared pointer. More... | |
| virtual void | appendPoint (const std::pair< double, T > &point) override |
| Add point. More... | |
| virtual void | calcCoeff () override |
| Calculate coefficients. More... | |
| virtual T | operator() (double t) const override |
| Calculate interpolated value. More... | |
| virtual U | derivative (double t, int order=1) const override |
| Calculate the derivative of interpolated value. More... | |
 Public Member Functions inherited from TrajColl::Interpolator< T, T > | |
| Interpolator (const std::map< double, T > &points={}) | |
| Constructor. More... | |
| Interpolator (const Interpolator &inst) | |
| Copy constructor. More... | |
| virtual std::shared_ptr< Interpolator< T, T > > | clone () const=0 |
| Clone this instance and get shared pointer. More... | |
| virtual void | clearPoints () |
| Clear points. More... | |
| double | startTime () const |
| Get start time. More... | |
| double | endTime () const |
| Get end time. More... | |
| const std::map< double, T > & | points () const |
| Get points. More... | |
Protected Types | |
| using | Vector1d = Eigen::Matrix< double, 1, 1 > |
| 1D vector More... | |
Protected Attributes | |
| std::shared_ptr< CubicHermiteSpline< Vector1d > > | func_ |
| Function to calculate the ratio of interpolation points. More... | |
| Protected Attributes inherited from TrajColl::Interpolator< T, T > | |
| std::map< double, T > | points_ |
| Times and values to be interpolated. More... | |
Detailed Description
template<class T, class U = T>
class TrajColl::CubicInterpolator< T, U >
Cubic interpolator.
- Template Parameters
-
T value type U derivative type
The velocity of each waypoint is assumed to be zero.
Definition at line 16 of file CubicInterpolator.h.
Member Typedef Documentation
◆ Vector1d
|
protected |
1D vector
Definition at line 20 of file CubicInterpolator.h.
Constructor & Destructor Documentation
◆ CubicInterpolator() [1/2]
|
inline |
Constructor.
- Parameters
-
points times and values to be interpolated
Definition at line 26 of file CubicInterpolator.h.
◆ CubicInterpolator() [2/2]
|
inline |
Copy constructor.
Definition at line 37 of file CubicInterpolator.h.
Member Function Documentation
◆ appendPoint()
|
inlineoverridevirtual |
Add point.
- Parameters
-
point time and value
- Note
- CubicInterpolator::calcCoeff should be called before calling CubicInterpolator::operator().
Implements TrajColl::Interpolator< T, T >.
Definition at line 53 of file CubicInterpolator.h.
◆ calcCoeff()
|
inlineoverridevirtual |
Calculate coefficients.
Implements TrajColl::Interpolator< T, T >.
Definition at line 59 of file CubicInterpolator.h.
◆ clone()
|
inlineoverridevirtual |
Clone this instance and get shared pointer.
Definition at line 43 of file CubicInterpolator.h.
◆ derivative()
|
inlineoverridevirtual |
Calculate the derivative of interpolated value.
- Parameters
-
t time order derivative order
It is assumed that interpolateDerivative() returns zero if derivative order is greater than or equal to 2.
Implements TrajColl::Interpolator< T, T >.
Definition at line 98 of file CubicInterpolator.h.
◆ operator()()
|
inlineoverridevirtual |
Calculate interpolated value.
- Parameters
-
t time
Implements TrajColl::Interpolator< T, T >.
Definition at line 84 of file CubicInterpolator.h.
Member Data Documentation
◆ func_
|
protected |
Function to calculate the ratio of interpolation points.
Definition at line 110 of file CubicInterpolator.h.
The documentation for this class was generated from the following file:
- /home/runner/work/TrajectoryCollection/TrajectoryCollection/catkin_ws/src/TrajectoryCollection/include/TrajColl/CubicInterpolator.h
