33 std::sort(data.begin(), data.end());
34 Eigen::VectorXd x(data.size());
35 Eigen::VectorXd y(data.size());
36 for (
unsigned i = 0; i < data.size(); ++i) {
38 y(i) = data[i].second;
40 x_min_ = data.front().first;
41 x_max_ = data.back().first;
42 y_start_ = data.front().second;
43 y_end_ = data.back().second;
46 spline_.reset(
new Eigen::Spline<double, 1>(
50 static_cast<Eigen::DenseIndex
>(std::min<size_t>(x.size() - 1, 3)),