piecewise_linear_function.hpp
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/* \author Bastian Steder */
namespace pcl {
PiecewiseLinearFunction::PiecewiseLinearFunction(float factor, float offset) : factor_(factor), offset_(offset)
{
}
inline float PiecewiseLinearFunction::getValue(float point) const
{
float vector_pos = factor_*point + offset_;
float floored_vector_pos = floor(vector_pos);
float interpolation_size = vector_pos-floored_vector_pos;
int data_point_before = (std::max)(0, (std::min)(int(data_points_.size())-2, int(lrint(floored_vector_pos))));
//cout << "Interpolating between "<<data_point_before<<" and "<<data_point_before+1<<" with value "
//<< interpolation_size<<" (vector size is "<<data_points_.size()<<").\n";
return data_points_[data_point_before]+interpolation_size*(data_points_[data_point_before+1]-data_points_[data_point_before]);
}
} // end namespace pcl
pcl::PiecewiseLinearFunction::factor_
float factor_
Definition: piecewise_linear_function.h:73
pcl
Definition: cloud_iterator.h:46
pcl::PiecewiseLinearFunction::PiecewiseLinearFunction
PiecewiseLinearFunction(float factor, float offset)
Constructor.
Definition: piecewise_linear_function.hpp:41
pcl::PiecewiseLinearFunction::offset_
float offset_
Definition: piecewise_linear_function.h:74
pcl::PiecewiseLinearFunction::getValue
float getValue(float point) const
Get the value of the function at the given point.
Definition: piecewise_linear_function.hpp:45
pcl::PiecewiseLinearFunction::data_points_
std::vector< float > data_points_
Definition: piecewise_linear_function.h:72