splines.hpp File Reference

#include <gsl/gsl_bspline.h>
#include <gsl/gsl_errno.h>
#include <gsl/gsl_interp.h>
#include <gsl/gsl_multifit.h>
#include <gsl/gsl_spline.h>
#include <cmath>
#include <type_traits>
#include <unordered_set>
#include <utility>
#include <vector>
#include "rclcpp/rclcpp.hpp"

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Classes
struct	HasDefaultConstructor< T, typename >
	In this file, a function is implemented to fit a spline to a set of ordered points. More...
struct	HasDefaultConstructor< T, std::void_t< decltype(T())> >
struct	IsHashable< T, typename >
struct	IsHashable< T, std::void_t< decltype(std::hash< T >{}(std::declval< T >()))> >
struct	HasEqualityOperator< T, typename >
struct	HasEqualityOperator< T, std::void_t< decltype(std::declval< T >()==std::declval< T >())> >
struct	HasPosition< T, typename >
struct	HasPosition< T, std::void_t< decltype(std::declval< T >().position)> >
struct	HasPositionXY< T, typename >
struct	HasPositionXY< T, std::void_t< decltype(std::declval< T >().position.x), decltype(std::declval< T >().position.y)> >
struct	IsCopyConstructor< T, typename >
struct	IsCopyConstructor< T, std::void_t< decltype(T(std::declval< T >()))> >
struct	HasEuclideanDistance< T, typename >
struct	HasEuclideanDistance< T, std::void_t< decltype(std::declval< T >().position.euclidean_distance(std::declval< T >().position))> >
struct	PositionXYAreDouble< T, typename >
struct	TripleSpline< T >
struct	PositionXYAreDouble< T, std::enable_if_t< std::is_same_v< decltype(std::declval< T >().position.x), double > &&std::is_same_v< decltype(std::declval< T >().position.y), double > > >

Functions
template<typename T >
std::vector< T >	fit_spline (const std::vector< T > &path, int precision, int order, float coeffs_ratio)
	This function takes a sequence of points (T), fits a spline to them using B-spline basis functions, and returns the sequence of points that represent the fitted spline.
template<typename T >
TripleSpline< T >	fit_triple_spline (const std::vector< T > &center, const std::vector< T > &left, const std::vector< T > &right, int precision, int order)
	This function takes three sequences of points (center, left, right), fits splines to them using GSL interpolation methods, and returns three sequences of points representing the fitted splines.

Function Documentation

fit_spline()

template<typename T >

std::vector< T > fit_spline	(	const std::vector< T > &	path,
		int	precision,
		int	order,
		float	coeffs_ratio
	)

This function takes a sequence of points (T), fits a spline to them using B-spline basis functions, and returns the sequence of points that represent the fitted spline.

Template Parameters

T	Type of the elements in the input and output sequences. T must satisfy several requirements: Default constructible Hashable Equality comparable Has a position member position has x and y members of type double position has a euclidean_distance method

Parameters

path	Sequence of points to fit the spline to.
precision	Number of interpolated points between each pair of original points.
order	Order of the B-spline.
coeffs_ratio	Ratio to determine the number of coefficients for the spline.

Returns

std::vector<T> Sequence of points representing the fitted spline.

Note

This function requires the GNU Scientific Library (GSL) for spline fitting.

Definition at line 130 of file splines.hpp.

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fit_triple_spline()

template<typename T >

TripleSpline< T > fit_triple_spline	(	const std::vector< T > &	center,
		const std::vector< T > &	left,
		const std::vector< T > &	right,
		int	precision,
		int	order
	)

This function takes three sequences of points (center, left, right), fits splines to them using GSL interpolation methods, and returns three sequences of points representing the fitted splines.

All three splines share the same parametric domain based on the center line's arc length.

Template Parameters

T	Type of the elements in the input and output sequences. T must satisfy several requirements: Default constructible Hashable Equality comparable Has a position member position has x and y members of type double position has a euclidean_distance method

Parameters

center	Sequence of points representing the center line.
left	Sequence of points representing the left boundary.
right	Sequence of points representing the right boundary.
precision	Number of interpolated points between each pair of original points.
order	Order of the interpolation: 2=linear, 3=cubic spline

Returns

TripleSpline<T> Structure containing three spline sequences: center, left, and right.

Note

This function requires the GNU Scientific Library (GSL) for spline interpolation.

All three input sequences must have the same size and at least 2 points.

Definition at line 315 of file splines.hpp.

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