CPose2DInterpolator.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

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

using namespace mrpt::utils;
using namespace mrpt::poses;

IMPLEMENTS_SERIALIZABLE(CPose2DInterpolator, CSerializable, mrpt::poses)

void CPose2DInterpolator::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                out << m_path;
        }
}

void CPose2DInterpolator::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        in >> m_path;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

namespace mrpt
{
namespace poses
{
// Specialization for DIM=2
template <>
void CPoseInterpolatorBase<2>::impl_interpolation(
        const mrpt::math::CArrayDouble<4>& ts, const TTimePosePair p1,
        const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4,
        const TInterpolatorMethod method, double td, pose_t& out_interp) const
{
        using mrpt::math::TPose2D;
        mrpt::math::CArrayDouble<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>;
}
}