Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
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Realization of SplineI that uses the Eigen::Splines library for interpolation. More...
#include <BSpline.hpp>
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 inlanecruising_plugin::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_ |
Realization of SplineI that uses the Eigen::Splines library for interpolation.
Definition at line 33 of file BSpline.hpp.
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inline |
Definition at line 36 of file BSpline.hpp.
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overridevirtual |
Get the BasicPoint2d representing the first_deriv along the curve at t-th step.
t | The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve) |
Implements inlanecruising_plugin::smoothing::SplineI.
Definition at line 24 of file BSpline.cpp.
References spline_.
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overridevirtual |
Get the BasicPoint2d coordinate along the curve at t-th step.
t | The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve) |
Implements inlanecruising_plugin::smoothing::SplineI.
Definition at line 17 of file BSpline.cpp.
References spline_.
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overridevirtual |
Get the BasicPoint2d representing the first_deriv along the curve at t-th step.
t | The t-th step to solve the spline at, where t is from 0 (beginning of curve) to 1 (end of curve) |
Implements inlanecruising_plugin::smoothing::SplineI.
Definition at line 30 of file BSpline.cpp.
References spline_.
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overridevirtual |
Set key points which the spline will interpolate between.
points | The key points |
Implements inlanecruising_plugin::smoothing::SplineI.
Definition at line 7 of file BSpline.cpp.
References process_traj_logs::point, and spline_.
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private |
Definition at line 42 of file BSpline.hpp.
Referenced by first_deriv(), operator()(), second_deriv(), and setPoints().