CPose2DInterpolator.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "poses-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPose2DInterpolator.h>
#include <mrpt/serialization/stl_serialization.h>
#include <Eigen/Dense>
#include "CPoseInterpolatorBase.hpp"  // templ impl

using namespace mrpt::poses;

IMPLEMENTS_SERIALIZABLE(CPose2DInterpolator, CSerializable, mrpt::poses)

uint8_t CPose2DInterpolator::serializeGetVersion() const { return 0; }
void CPose2DInterpolator::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << m_path;
}
void CPose2DInterpolator::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> m_path;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

namespace mrpt::poses
{
// Specialization for DIM=2
template <>
void CPoseInterpolatorBase<2>::impl_interpolation(
    const TTimePosePair& p1, const TTimePosePair& p2, const TTimePosePair& p3,
    const TTimePosePair& p4, const TInterpolatorMethod method,
    const mrpt::Clock::time_point& t, pose_t& out_interp) const
{
    using mrpt::math::TPose2D;
    using doubleDuration = std::chrono::duration<double>;
    doubleDuration durationT(t.time_since_epoch());
    double td = durationT.count();
    mrpt::math::CVectorFixedDouble<4> ts;
    ts[0] =
        std::chrono::duration_cast<doubleDuration>(p1.first.time_since_epoch())
            .count();
    ts[1] =
        std::chrono::duration_cast<doubleDuration>(p2.first.time_since_epoch())
            .count();
    ts[2] =
        std::chrono::duration_cast<doubleDuration>(p3.first.time_since_epoch())
            .count();
    ts[3] =
        std::chrono::duration_cast<doubleDuration>(p4.first.time_since_epoch())
            .count();

    mrpt::math::CVectorFixedDouble<4> X, Y, yaw;
    X[0] = p1.second.x;
    Y[0] = p1.second.y;
    yaw[0] = p1.second.phi;
    X[1] = p2.second.x;
    Y[1] = p2.second.y;
    yaw[1] = p2.second.phi;
    X[2] = p3.second.x;
    Y[2] = p3.second.y;
    yaw[2] = p3.second.phi;
    X[3] = p4.second.x;
    Y[3] = p4.second.y;
    yaw[3] = p4.second.phi;

    unwrap2PiSequence(yaw);

    // Target interpolated values:
    switch (method)
    {
        case imSpline:
        {
            // ---------------------------------------
            //    SPLINE INTERPOLATION
            // ---------------------------------------
            out_interp.x = math::spline(td, ts, X);
            out_interp.y = math::spline(td, ts, Y);
            out_interp.phi = math::spline(td, ts, yaw, true);  // Wrap 2pi
        }
        break;

        case imLinear2Neig:
        {
            out_interp.x =
                math::interpolate2points(td, ts[1], X[1], ts[2], X[2]);
            out_interp.y =
                math::interpolate2points(td, ts[1], Y[1], ts[2], Y[2]);
            out_interp.phi = math::interpolate2points(
                td, ts[1], yaw[1], ts[2], yaw[2], true);  // Wrap 2pi
        }
        break;

        case imLinear4Neig:
        {
            out_interp.x =
                math::leastSquareLinearFit<double, decltype(ts), 4>(td, ts, X);
            out_interp.y =
                math::leastSquareLinearFit<double, decltype(ts), 4>(td, ts, Y);
            out_interp.phi =
                math::leastSquareLinearFit<double, decltype(ts), 4>(
                    td, ts, yaw, true);  // Wrap 2pi
        }
        break;

        case imSSLLLL:
        {
            out_interp.x = math::spline(td, ts, X);
            out_interp.y = math::spline(td, ts, Y);
            out_interp.phi =
                math::leastSquareLinearFit<double, decltype(ts), 4>(
                    td, ts, yaw, true);  // Wrap 2pi
        }
        break;

        case imSSLSLL:
        {
            out_interp.x = math::spline(td, ts, X);
            out_interp.y = math::spline(td, ts, Y);
            out_interp.phi = math::spline(td, ts, yaw, true);  // Wrap 2pi
        }
        break;

        case imLinearSlerp:
        {
            const double ratio = (td - ts[1]) / (ts[2] - ts[1]);
            const double Aang = mrpt::math::angDistance(yaw[1], yaw[2]);
            out_interp.phi = yaw[1] + ratio * Aang;

            out_interp.x =
                math::interpolate2points(td, ts[1], X[1], ts[2], X[2]);
            out_interp.y =
                math::interpolate2points(td, ts[1], Y[1], ts[2], Y[2]);
        }
        break;

        case imSplineSlerp:
        {
            const double ratio = (td - ts[1]) / (ts[2] - ts[1]);
            const double Aang = mrpt::math::angDistance(yaw[1], yaw[2]);
            out_interp.phi = yaw[1] + ratio * Aang;

            out_interp.x = math::spline(td, ts, X);
            out_interp.y = math::spline(td, ts, Y);
        }
        break;

        default:
            THROW_EXCEPTION("Unknown value for interpolation method!");
    };  // end switch
}

// Explicit instantations:
template class CPoseInterpolatorBase<2>;
}  // namespace mrpt::poses