65 lines
2.6 KiB
C++
65 lines
2.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/* \author Bastian Steder */
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#pragma once
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#include <pcl/common/piecewise_linear_function.h>
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#include <algorithm>
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#include <cmath>
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// #include <iostream>
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namespace pcl {
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PiecewiseLinearFunction::PiecewiseLinearFunction(float factor, float offset) : factor_(factor), offset_(offset)
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{
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}
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inline float PiecewiseLinearFunction::getValue(float point) const
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{
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float vector_pos = factor_*point + offset_;
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float floored_vector_pos = std::floor(vector_pos);
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float interpolation_size = vector_pos-floored_vector_pos;
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int data_point_before = (std::max)(0, (std::min)(int(data_points_.size())-2, int(lrint(floored_vector_pos))));
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//std::cout << "Interpolating between "<<data_point_before<<" and "<<data_point_before+1<<" with value "
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//<< interpolation_size<<" (vector size is "<<data_points_.size()<<").\n";
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return data_points_[data_point_before]+interpolation_size*(data_points_[data_point_before+1]-data_points_[data_point_before]);
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}
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} // namespace pcl
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