apollo::dreamview::Interpolation2D类 参考

#include <interpolation_2d.h>

apollo::dreamview::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)
double	Interpolate (const KeyType &xy) const

详细描述

在文件 interpolation_2d.h 第 27 行定义.

成员类型定义说明

DataType

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

在文件 interpolation_2d.h 第 29 行定义.

KeyType

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

在文件 interpolation_2d.h 第 30 行定义.

构造及析构函数说明

Interpolation2D()

apollo::dreamview::Interpolation2D::Interpolation2D ( )

default

成员函数说明

init()

bool apollo::dreamview::Interpolation2D::init

(

const DataType &

xyz

)

在文件 interpolation_2d.cc 第 25 行定义.

                                              {
  if (xyz.empty()) {
    return false;
  }
  for (const auto& t : xyz) {
    _xyz[std::get<0>(t)][std::get<2>(t)] = std::get<1>(t);
  }
  return true;
}

Interpolate()

double apollo::dreamview::Interpolation2D::Interpolate

(

const KeyType &

xy

)

const

在文件 interpolation_2d.cc 第 35 行定义.

                                                           {
  double max_x = _xyz.rbegin()->first;
  double min_x = _xyz.begin()->first;
  if (xy.first >= max_x - kDoubleEpsilon) {
    return InterpolateYz(_xyz.rbegin()->second, xy.second);
  }
  if (xy.first <= min_x + kDoubleEpsilon) {
    return InterpolateYz(_xyz.begin()->second, xy.second);
  }
 
  auto itr_after = _xyz.lower_bound(xy.first);
  auto itr_before = itr_after;
  --itr_before;
 
  double x_before = itr_before->first;
  double z_before = InterpolateYz(itr_before->second, xy.second);
  double x_after = itr_after->first;
  double z_after = InterpolateYz(itr_after->second, xy.second);
 
  double x_diff_before = std::fabs(xy.first - x_before);
  double x_diff_after = std::fabs(xy.first - x_after);
 
  return InterpolateValue(z_before, x_diff_before, z_after, x_diff_after);
}

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该类的文档由以下文件生成:

• modules/dreamview/backend/common/sim_control_manager/common/interpolation_2d.h
• modules/dreamview/backend/common/sim_control_manager/common/interpolation_2d.cc