basic_autonomy::smoothing::BSpline Class Reference

Realization of SplineI that uses the Eigen::Splines library for interpolation. More...

#include <BSpline.hpp>

Inheritance diagram for basic_autonomy::smoothing::BSpline:

Collaboration diagram for basic_autonomy::smoothing::BSpline:

Public Member Functions
	~BSpline ()
void	setPoints (const std::vector< lanelet::BasicPoint2d > &points) override
	Set key points which the spline will interpolate between. More...
lanelet::BasicPoint2d	operator() (double t) const override
	Get the BasicPoint2d coordinate along the curve at t-th step. More...
lanelet::BasicPoint2d	first_deriv (double t) const override
	Get the BasicPoint2d representing the first_deriv along the curve at t-th step. More...
lanelet::BasicPoint2d	second_deriv (double t) const override
	Get the BasicPoint2d representing the first_deriv along the curve at t-th step. More...
Public Member Functions inherited from basic_autonomy::smoothing::SplineI
virtual	~SplineI ()
	Virtual destructor to ensure delete safety for pointers to implementing classes. More...
virtual void	setPoints (const std::vector< lanelet::BasicPoint2d > &points)=0
	Set key points which the spline will interpolate between. More...
virtual lanelet::BasicPoint2d	operator() (double t) const =0
	Get the BasicPoint2d coordinate along the curve at t-th step. More...
virtual lanelet::BasicPoint2d	first_deriv (double x) const =0
	Get the BasicPoint2d representing the first_deriv along the curve at t-th step. More...
virtual lanelet::BasicPoint2d	second_deriv (double x) const =0
	Get the BasicPoint2d representing the first_deriv along the curve at t-th step. More...

Private Attributes
Spline2d	spline_

Detailed Description

Realization of SplineI that uses the Eigen::Splines library for interpolation.

Definition at line 33 of file BSpline.hpp.

Constructor & Destructor Documentation

~BSpline()

basic_autonomy::smoothing::BSpline::~BSpline ( )

inline

Definition at line 36 of file BSpline.hpp.

{};

Member Function Documentation

first_deriv()

lanelet::BasicPoint2d basic_autonomy::smoothing::BSpline::first_deriv ( double  x ) const

overridevirtual

Get the BasicPoint2d representing the first_deriv along the curve at t-th step.

Parameters

t	The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve)

Returns

lanelet::BasicPoint2d with x, y that matches the first_deriv at t-th step along the curve. This is not partial derivatives

Implements basic_autonomy::smoothing::SplineI.

Definition at line 41 of file BSpline.cpp.

                                                        {
  Eigen::Array2Xd v = spline_.derivatives(t, 1);
  lanelet::BasicPoint2d  output = {v(2), v(3)};
  return output;
}

References spline_.

operator()()

lanelet::BasicPoint2d basic_autonomy::smoothing::BSpline::operator() ( double  t ) const

overridevirtual

Get the BasicPoint2d coordinate along the curve at t-th step.

Parameters

t	The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve)

Returns

lanelet::BasicPoint2d with x, y that matches the t-th step along the curve

Implements basic_autonomy::smoothing::SplineI.

Definition at line 34 of file BSpline.cpp.

{
  Eigen::VectorXd values = spline_(t);
  lanelet::BasicPoint2d pt = {values.x(), values.y()};
  return pt;
}

References spline_.

second_deriv()

lanelet::BasicPoint2d basic_autonomy::smoothing::BSpline::second_deriv ( double  x ) const

overridevirtual

Get the BasicPoint2d representing the first_deriv along the curve at t-th step.

Parameters

t	The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve)

Returns

lanelet::BasicPoint2d with x, y that matches the second_deriv at t-th step along the curve. This is not partial derivatives

Implements basic_autonomy::smoothing::SplineI.

Definition at line 47 of file BSpline.cpp.

                                                         {
  Eigen::Array2Xd v = spline_.derivatives(t, 2);
  lanelet::BasicPoint2d  output = {v(4), v(5)};
  return output;
}

References spline_.

setPoints()

void basic_autonomy::smoothing::BSpline::setPoints ( const std::vector< lanelet::BasicPoint2d > &  points )

overridevirtual

Set key points which the spline will interpolate between.

Parameters

points

The key points

Implements basic_autonomy::smoothing::SplineI.

Definition at line 24 of file BSpline.cpp.

{
  Eigen::MatrixXd matrix_points(2, points.size());
  int row_index = 0;
  for(auto const point : points){
      matrix_points.col(row_index) << point.x(), point.y();
      row_index++;
  }
  spline_ = Eigen::SplineFitting<Spline2d>::Interpolate(matrix_points,3 );
}

References process_traj_logs::point, and spline_.

Member Data Documentation

spline_

Spline2d basic_autonomy::smoothing::BSpline::spline_

private

Definition at line 42 of file BSpline.hpp.

Referenced by first_deriv(), operator()(), second_deriv(), and setPoints().

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The documentation for this class was generated from the following files:

• basic_autonomy/include/basic_autonomy/smoothing/BSpline.hpp
• basic_autonomy/src/smoothing/BSpline.cpp