9 #ifndef CPose3DInterpolator_H 10 #define CPose3DInterpolator_H 111 size_t size()
const {
return m_path.size(); }
112 bool empty()
const {
return m_path.empty(); }
137 void setMaxTimeInterpolation(
double time );
140 double getMaxTimeInterpolation( );
161 bool saveInterpolatedToTextFile(
const std::string &s,
double period)
const;
194 void filter(
unsigned int component,
unsigned int samples );
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
TPath::const_iterator const_iterator
TPath::reverse_iterator reverse_iterator
TInterpolatorMethod m_method
const_reverse_iterator rend() const
TInterpolatorMethod
Type to select the interpolation method in CPose3DInterpolator::setInterpolationMethod.
The virtual base class which provides a unified interface for all persistent objects in MRPT...
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
const_iterator upper_bound(const mrpt::system::TTimeStamp &t) const
poses::CPose3DInterpolator::TInterpolatorMethod enum_t
T interpolate(const T &x, const VECTOR &ys, const T &x0, const T &x1)
Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximat...
const_iterator end() const
iterator upper_bound(const mrpt::system::TTimeStamp &t)
Only specializations of this class are defined for each enum type of interest.
Helper types for STL containers with Eigen memory allocators.
std::pair< mrpt::system::TTimeStamp, mrpt::poses::CPose3D > TTimePosePair
iterator erase(iterator element_to_erase)
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class used to store a 3D point.
iterator lower_bound(const mrpt::system::TTimeStamp &t)
void loadFromTextFile(const std::string &file)
Load matrix from a text file, compatible with MATLAB text format.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
static void fill(bimap< enum_t, std::string > &m_map)
reverse_iterator rbegin()
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
const_iterator lower_bound(const mrpt::system::TTimeStamp &t) const
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
const_iterator begin() const
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
double maxTimeInterpolation
Maximum time considered to interpolate. If the difference between the desired timestamp where to inte...
mrpt::aligned_containers< mrpt::system::TTimeStamp, CPose3D >::map_t TPath
TPath::const_reverse_iterator const_reverse_iterator
const_reverse_iterator rbegin() const
double BASE_IMPEXP distance(const TPoint2D &p1, const TPoint2D &p2)
Gets the distance between two points in a 2D space.