basic_autonomy::smoothing Namespace Reference

Classes
class	BSpline
	Realization of SplineI that uses the Eigen::Splines library for interpolation. More...
class	SplineI
	Interface to a spline interpolator that can be used to smoothly interpolate between points. More...

Typedefs
typedef Eigen::Spline< double, 2 >	Spline2d

Functions
std::vector< double >	moving_average_filter (const std::vector< double > input, int window_size, bool ignore_first_point=true)
	Extremely simplie moving average filter. More...

Typedef Documentation

Spline2d

typedef Eigen::Spline<double, 2> basic_autonomy::smoothing::Spline2d

Definition at line 29 of file BSpline.hpp.

Function Documentation

moving_average_filter()

std::vector< double > basic_autonomy::smoothing::moving_average_filter	(	const std::vector< double >	input,
		int	window_size,
		bool	ignore_first_point = true
	)

Extremely simplie moving average filter.

Parameters

input	The points to be filtered
window_size	The number of points to use in the moving window for averaging

Returns

The filterted points

Definition at line 24 of file filters.cpp.

{
  if (window_size % 2 == 0) {
    throw std::invalid_argument("moving_average_filter window size must be odd");
  }
 
  std::vector<double> output;
  output.reserve(input.size());
 
  if (input.size() == 0) {
    return output;
  }
 
  int start_index = 0;
  if (ignore_first_point) {
    start_index = 1;
    output.push_back(input[0]);
  }
 
  for (int i = start_index; i < static_cast<int>(input.size()); i++) {
    
    
    double total = 0;
    int sample_min = std::max(0, i - window_size / 2);
    int sample_max = std::min((int) input.size() - 1 , i + window_size / 2);
 
    int count = sample_max - sample_min + 1;
    std::vector<double> sample;
    sample.reserve(count);
    for (int j = sample_min; j <= sample_max; j++) {
      total += input[j];
    }
    output.push_back(total / (double) count);
 
  }
 
  return output;
}

References process_bag::i, and process_traj_logs::start_index.

Referenced by basic_autonomy::waypoint_generation::compose_lanechange_trajectory_from_path(), basic_autonomy::waypoint_generation::compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline(), stop_and_wait_plugin::StopandWait::compose_trajectory_from_centerline(), and yield_plugin::YieldPlugin::generate_JMT_trajectory().

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