apollo::control::InterpolationPlus1D类 参考

#include <interpolation_plus_1d.h>

类 apollo::control::InterpolationPlus1D 继承关系图:

apollo::control::InterpolationPlus1D 的协作图:

静态 Public 成员函数
static double	interpolation_1d (const double &value, const google::protobuf::RepeatedField< double > &input_vector, const google::protobuf::RepeatedField< double > &output_vector)

额外继承的成员函数
Public 类型 继承自 apollo::control::Interpolation1D
typedef std::vector< std::pair< double, double > >	DataType
Public 成员函数 继承自 apollo::control::Interpolation1D
	Interpolation1D ()=default
bool	Init (const DataType &xy)
double	Interpolate (double x) const

详细描述

在文件 interpolation_plus_1d.h 第 33 行定义.

成员函数说明

interpolation_1d()

double apollo::control::InterpolationPlus1D::interpolation_1d ( const double &  value, const google::protobuf::RepeatedField< double > &  input_vector, const google::protobuf::RepeatedField< double > &  output_vector  )

static

在文件 interpolation_plus_1d.cc 第 25 行定义.

                                                                  {
    int input_size = input_vector.size();
    int output_size = output_vector.size();
 
    ADEBUG << "input_size is " << input_size << ", output_size is " << output_size;
    if (input_size < 1 || output_size < 1) {
        AERROR << "1d interpolation: vector size is 0";
        return 1.0;
    } else if (input_size != output_size) {
        AERROR << "1d interpolation: vector size is wrong"
               << ", input_size: " << input_size << ", output_size: " << output_size;
        return 1.0;
    }
 
    if (value <= input_vector.Get(0)) {
        ADEBUG << "return the output_vector.Get(0)";
        return output_vector.Get(0);
    } else if (value >= input_vector.Get(input_size - 1)) {
        ADEBUG << "return the output_vector.Get(input_size - 1)";
        return output_vector.Get(input_size - 1);
    }
 
    for (int i = 1; i < input_size; ++i) {
        if (value >= input_vector.Get(i - 1) && value < input_vector.Get(i)) {
            ADEBUG << "return the interpolation_1d";
            return output_vector.Get(i - 1)
                    + (output_vector.Get(i) - output_vector.Get(i - 1)) * (value - input_vector.Get(i - 1))
                    / (input_vector.Get(i) - input_vector.Get(i - 1));
        }
    }
 
    AERROR << "1d interpolation: something is wrong";
    return 1.0;
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/common/interpolation_plus_1d.h
• modules/control/control_task_base_extend/common/interpolation_plus_1d.cc