basic_autonomy::smoothing::SplineI Class Reference

Interface to a spline interpolator that can be used to smoothly interpolate between points. More...

#include <SplineI.hpp>

Inheritance diagram for basic_autonomy::smoothing::SplineI:

Collaboration diagram for basic_autonomy::smoothing::SplineI:

Public Member Functions
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...

Detailed Description

Interface to a spline interpolator that can be used to smoothly interpolate between points.

Definition at line 29 of file SplineI.hpp.

Constructor & Destructor Documentation

~SplineI()

virtual basic_autonomy::smoothing::SplineI::~SplineI ( )

inlinevirtual

Virtual destructor to ensure delete safety for pointers to implementing classes.

Definition at line 36 of file SplineI.hpp.

{};

Member Function Documentation

first_deriv()

virtual lanelet::BasicPoint2d basic_autonomy::smoothing::SplineI::first_deriv ( double  x ) const

pure virtual

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

Implemented in basic_autonomy::smoothing::BSpline.

Referenced by basic_autonomy::waypoint_generation::compute_curvature_at().

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operator()()

virtual lanelet::BasicPoint2d basic_autonomy::smoothing::SplineI::operator() ( double  t ) const

pure virtual

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

Implemented in basic_autonomy::smoothing::BSpline.

second_deriv()

virtual lanelet::BasicPoint2d basic_autonomy::smoothing::SplineI::second_deriv ( double  x ) const

pure virtual

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

Implemented in basic_autonomy::smoothing::BSpline.

Referenced by basic_autonomy::waypoint_generation::compute_curvature_at().

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setPoints()

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

pure virtual

Set key points which the spline will interpolate between.

Parameters

points

The key points

Implemented in basic_autonomy::smoothing::BSpline.

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

• basic_autonomy/include/basic_autonomy/smoothing/SplineI.hpp