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9 #ifndef CPose3DInterpolator_H
10 #define CPose3DInterpolator_H
111 size_t size()
const {
return m_path.size(); }
112 bool empty()
const {
return m_path.empty(); }
137 void setMaxTimeInterpolation(
double time );
140 double getMaxTimeInterpolation( );
161 bool saveInterpolatedToTextFile(
const std::string &s,
double period)
const;
183 void setInterpolationMethod( TInterpolatorMethod method);
188 TInterpolatorMethod getInterpolationMethod()
const;
194 void filter(
unsigned int component,
unsigned int samples );
reverse_iterator rbegin()
const_iterator upper_bound(const mrpt::system::TTimeStamp &t) const
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
T interpolate(const T &x, const VECTOR &ys, const T &x0, const T &x1)
Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximat...
double BASE_IMPEXP distance(const TPoint2D &p1, const TPoint2D &p2)
Gets the distance between two points in a 2D space.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::pair< mrpt::system::TTimeStamp, mrpt::poses::CPose3D > TTimePosePair
const typedef Scalar * const_iterator
poses::CPose3DInterpolator::TInterpolatorMethod enum_t
TPath::const_reverse_iterator const_reverse_iterator
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
mrpt::aligned_containers< mrpt::system::TTimeStamp, CPose3D >::map_t TPath
const EIGEN_STRONG_INLINE AdjointReturnType t() const
Transpose.
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
double maxTimeInterpolation
Maximum time considered to interpolate. If the difference between the desired timestamp where to inte...
const_reverse_iterator rbegin() const
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
TPath::const_iterator const_iterator
TInterpolatorMethod
Type to select the interpolation method in CPose3DInterpolator::setInterpolationMethod.
TPath::reverse_iterator reverse_iterator
TInterpolatorMethod m_method
The virtual base class which provides a unified interface for all persistent objects in MRPT.
const_iterator begin() const
iterator upper_bound(const mrpt::system::TTimeStamp &t)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
const_iterator lower_bound(const mrpt::system::TTimeStamp &t) const
void loadFromTextFile(const std::string &file)
Load matrix from a text file, compatible with MATLAB text format.
TPath m_path
The sequence of poses.
A class used to store a 3D point.
static void fill(bimap< enum_t, std::string > &m_map)
iterator erase(iterator element_to_erase)
const_iterator end() const
Only specializations of this class are defined for each enum type of interest.
iterator lower_bound(const mrpt::system::TTimeStamp &t)
const_reverse_iterator rend() const
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
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