Point Cloud Library (PCL)  1.14.1-dev
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 
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.