Class that performs interpolation of data in time. More...

#include <Interpolation.h>

Public Member Functions
	Interpolation (const InterpolationType &type=LIN)
	Default constructor. More...

	Interpolation (const Interpolation &arg)
	Copy Constructor. More...

void	interpolate (const tpl::TimeArray< SCALAR > &timeArray, const DiscreteArray_t &dataArray, const SCALAR &enquiryTime, Data_T &enquiryData, int greatestLessTimeStampIndex=-1)
	This method performs the interpolation. More...

int	getGreatestLessTimeStampIndex ()
	access the greatest index which is smaller than the inquired interpolation time More...

InterpolationType	getInterpolationType () const
	get the employed interpolation type More...

void	changeInterpolationType (const InterpolationType &type)
	change the interpolation type More...

int	findIndex (const tpl::TimeArray< SCALAR > &timeArray, const SCALAR &enquiryTime)
	find an index corresponding to a certain inquiry time More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DiscreteArray< Data_T, Alloc_Data >	DiscreteArray_t

Protected Attributes
int	index_

InterpolationType	type_

Detailed Description

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>
class ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >

Class that performs interpolation of data in time.

This class performs interpolation of a data array based on timestamps

Template Parameters

Data_T	the data type for interpolation, e.g. a scalar or a StateVector
Alloc_Data	An optional allocator for the data type
Alloc_Time	An optional allocator for the time data type

Examples:: InterpolationTest.cpp.

Constructor & Destructor Documentation

◆ Interpolation() [1/2]

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::Interpolation ( const InterpolationType & type = LIN )

inline

Default constructor.

Warning: This does not initialize the underlying data or time series and thus all evaluating calls will fail.

Parameters

type	The interpolation strategy to use

◆ Interpolation() [2/2]

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::Interpolation ( const Interpolation< Data_T, Alloc_Data, SCALAR > & arg )

inline

Copy Constructor.

Member Function Documentation

◆ interpolate()

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

void ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::interpolate	(	const tpl::TimeArray< SCALAR > &	timeArray,
		const DiscreteArray_t &	dataArray,
		const SCALAR &	enquiryTime,
		Data_T &	enquiryData,
		int	greatestLessTimeStampIndex = `-1`
	)

inline

This method performs the interpolation.

Parameters

timeArray	timing information of the data points
dataArray	the data points in form of a DiscreteArray
enquiryTime	the time where to evaluate the interpolation
enquiryData	the result of the interpolation
greatestLessTimeStampIndex	the smallest index corresponding to a time smaller than the inquired Time

Referenced by ct::core::DiscreteTrajectoryBase< STATE_DIM, CONTROL_DIM, SCALAR >::eval(), and TEST().

◆ getGreatestLessTimeStampIndex()

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

int ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::getGreatestLessTimeStampIndex ( )

inline

access the greatest index which is smaller than the inquired interpolation time

◆ getInterpolationType()

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

InterpolationType ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::getInterpolationType ( ) const

inline

get the employed interpolation type

Referenced by ct::core::DiscreteTrajectoryBase< STATE_DIM, CONTROL_DIM, SCALAR >::operator=().

◆ changeInterpolationType()

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

void ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::changeInterpolationType ( const InterpolationType & type )

inline

change the interpolation type

Referenced by ct::core::DiscreteTrajectoryBase< STATE_DIM, CONTROL_DIM, SCALAR >::operator=(), and ct::core::DiscreteTrajectoryBase< STATE_DIM, CONTROL_DIM, SCALAR >::setInterpolationType().

◆ findIndex()

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

int ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::findIndex	(	const tpl::TimeArray< SCALAR > &	timeArray,
		const SCALAR &	enquiryTime
	)

inline

find an index corresponding to a certain inquiry time

Referenced by ct::core::DiscreteTrajectoryBase< STATE_DIM, CONTROL_DIM, SCALAR >::getIndexFromTime(), and ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::interpolate().

Member Data Documentation

◆ DiscreteArray_t

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DiscreteArray<Data_T, Alloc_Data> ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::DiscreteArray_t

◆ index_

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

int ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::index_

protected

Referenced by ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::findIndex(), ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::getGreatestLessTimeStampIndex(), and ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::interpolate().

◆ type_

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>

InterpolationType ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >::type_

protected

Referenced by ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::changeInterpolationType(), ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::getInterpolationType(), and ct::core::Interpolation< CONTROL_DIM, SCALAR, double >::interpolate().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/common/Interpolation.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double> class ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >

Constructor & Destructor Documentation

◆ Interpolation() [1/2]

◆ Interpolation() [2/2]

Member Function Documentation

◆ interpolate()

◆ getGreatestLessTimeStampIndex()

◆ getInterpolationType()

◆ changeInterpolationType()

◆ findIndex()

Member Data Documentation

◆ DiscreteArray_t

◆ index_

◆ type_

template<typename Data_T, class Alloc_Data = Eigen::aligned_allocator<Data_T>, typename SCALAR = double>
class ct::core::Interpolation< Data_T, Alloc_Data, SCALAR >