Point Cloud Library (PCL) 1.14.0
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piecewise_linear_function.hpp
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35
36/* \author Bastian Steder */
37
38#pragma once
39
40#include <pcl/common/piecewise_linear_function.h>
41
42#include <algorithm>
43#include <cmath>
44// #include <iostream>
45
46
47namespace pcl {
48
49PiecewiseLinearFunction::PiecewiseLinearFunction(float factor, float offset) : factor_(factor), offset_(offset)
50{
51}
52
53inline float PiecewiseLinearFunction::getValue(float point) const
54{
55 float vector_pos = factor_*point + offset_;
56 float floored_vector_pos = std::floor(vector_pos);
57 float interpolation_size = vector_pos-floored_vector_pos;
58 int data_point_before = (std::max)(0, (std::min)(int(data_points_.size())-2, int(lrint(floored_vector_pos))));
59 //std::cout << "Interpolating between "<<data_point_before<<" and "<<data_point_before+1<<" with value "
60 //<< interpolation_size<<" (vector size is "<<data_points_.size()<<").\n";
61 return data_points_[data_point_before]+interpolation_size*(data_points_[data_point_before+1]-data_points_[data_point_before]);
62}
63
64} // namespace pcl
float getValue(float point) const
Get the value of the function at the given point.
PiecewiseLinearFunction(float factor, float offset)
Constructor.