linear interpolation from key (double, double) to one double value. 更多...

#include <interpolation_2d.h>

apollo::control::Interpolation2D 的协作图:

Public 类型
typedef std::vector< std::tuple< double, double, double > >	DataType

typedef std::pair< double, double >	KeyType

Public 成员函数
	Interpolation2D ()=default

bool	Init (const DataType &xyz)
	initialize Interpolation2D internal table

double	Interpolate (const KeyType &xy) const
	linear interpolate from 2D key (double, double) to one double value.

bool	CheckMap () const

详细描述

linear interpolation from key (double, double) to one double value.

在文件 interpolation_2d.h 第 40 行定义.

成员类型定义说明

◆ DataType

typedef std::vector<std::tuple<double, double, double> > apollo::control::Interpolation2D::DataType

在文件 interpolation_2d.h 第 42 行定义.

◆ KeyType

typedef std::pair<double, double> apollo::control::Interpolation2D::KeyType

在文件 interpolation_2d.h 第 43 行定义.

构造及析构函数说明

◆ Interpolation2D()

apollo::control::Interpolation2D::Interpolation2D ( )

default

成员函数说明

◆ CheckMap()

bool apollo::control::Interpolation2D::CheckMap ( ) const

在文件 interpolation_2d.cc 第 50 行定义.

                                     {
  double keysize = xyz_.begin()->second.size();
  auto itr_ = xyz_.begin();
  for (; itr_ != xyz_.end(); itr_++) {
    if (FLAGS_use_calibration_dimension_equal_check) {
      if (keysize != itr_->second.size()) {
        AERROR << "calibration map dimension is not equal.";
        AERROR << "first value: " << keysize
               << ", second value: " << itr_->second.size();
        return false;
      }
    }
 
    int pos_count = 0;
    int nag_count = 0;
    auto inner_itr_ = itr_->second.begin();
    for (; inner_itr_ != itr_->second.end(); inner_itr_++) {
      if (inner_itr_->first > 0) {
        pos_count++;
      } else if (inner_itr_->first < 0) {
        nag_count++;
      }
    }
    if (nag_count == 0) {
      AERROR << "calibration has all pos map";
      return false;
    }
    if (pos_count == 0) {
      AERROR << "calibration has all nag map";
      return false;
    }
  }
  return true;
}

◆ Init()

bool apollo::control::Interpolation2D::Init ( const DataType & xyz )

initialize Interpolation2D internal table

参数

xyz	passing interpolation initialization table data

返回: true if init is ok.

在文件 interpolation_2d.cc 第 33 行定义.

                                              {
  if (xyz.empty()) {
    AERROR << "empty input.";
    return false;
  }
  for (const auto &t : xyz) {
    xyz_[std::get<0>(t)][std::get<1>(t)] = std::get<2>(t);
  }
 
  if (!CheckMap()) {
    AERROR << "calibration map is not correct.";
    return false;
  }
 
  return true;
}

◆ Interpolate()

double apollo::control::Interpolation2D::Interpolate ( const KeyType & xy ) const

linear interpolate from 2D key (double, double) to one double value.