Point Cloud Library (PCL)  1.13.1-dev
piecewise_linear_function.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the copyright holder(s) nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  */
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 
47 namespace pcl {
48 
49 PiecewiseLinearFunction::PiecewiseLinearFunction(float factor, float offset) : factor_(factor), offset_(offset)
50 {
51 }
52 
53 inline 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.