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115 changes: 115 additions & 0 deletions
115
common/autoware_motion_utils/examples/example_interpolator.cpp
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| // Copyright 2024 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "autoware/motion_utils/trajectory_container/interpolator/linear.hpp" | ||
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| #include <autoware/motion_utils/trajectory_container/interpolator.hpp> | ||
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| #include <matplotlibcpp17/pyplot.h> | ||
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| #include <random> | ||
| #include <vector> | ||
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| int main() | ||
| { | ||
| pybind11::scoped_interpreter guard{}; | ||
| auto plt = matplotlibcpp17::pyplot::import(); | ||
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| // create random values | ||
| std::vector<double> axis = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0}; | ||
| std::vector<double> values; | ||
| std::random_device seed_gen; | ||
| std::mt19937 engine(seed_gen()); | ||
| std::uniform_real_distribution<> dist(-1.0, 1.0); | ||
| for (size_t i = 0; i < axis.size(); ++i) { | ||
| values.push_back(dist(engine)); | ||
| } | ||
| // Scatter Data | ||
| plt.scatter(Args(axis, values)); | ||
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| using autoware::motion_utils::trajectory_container::interpolator::Interpolator; | ||
| using autoware::motion_utils::trajectory_container::interpolator::InterpolatorCreator; | ||
| // Linear Interpolator | ||
| { | ||
| using autoware::motion_utils::trajectory_container::interpolator::Linear; | ||
| auto interpolator = *InterpolatorCreator<Linear>().set_axis(axis).set_values(values).create(); | ||
| std::vector<double> x; | ||
| std::vector<double> y; | ||
| for (double i = axis.front(); i < axis.back(); i += 0.01) { | ||
| x.push_back(i); | ||
| y.push_back(interpolator.compute(i)); | ||
| } | ||
| plt.plot(Args(x, y), Kwargs("label"_a = "Linear")); | ||
| } | ||
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| // AkimaSpline Interpolator | ||
| { | ||
| using autoware::motion_utils::trajectory_container::interpolator::AkimaSpline; | ||
| auto interpolator = | ||
| *InterpolatorCreator<AkimaSpline>().set_axis(axis).set_values(values).create(); | ||
| std::vector<double> x; | ||
| std::vector<double> y; | ||
| for (double i = axis.front(); i < axis.back(); i += 0.01) { | ||
| x.push_back(i); | ||
| y.push_back(interpolator.compute(i)); | ||
| } | ||
| plt.plot(Args(x, y), Kwargs("label"_a = "AkimaSpline")); | ||
| } | ||
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| // CubicSpline Interpolator | ||
| { | ||
| using autoware::motion_utils::trajectory_container::interpolator::CubicSpline; | ||
| auto interpolator = | ||
| *InterpolatorCreator<CubicSpline>().set_axis(axis).set_values(values).create(); | ||
| std::vector<double> x; | ||
| std::vector<double> y; | ||
| for (double i = axis.front(); i < axis.back(); i += 0.01) { | ||
| x.push_back(i); | ||
| y.push_back(interpolator.compute(i)); | ||
| } | ||
| plt.plot(Args(x, y), Kwargs("label"_a = "CubicSpline")); | ||
| } | ||
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| // NearestNeighbor Interpolator | ||
| { | ||
| using autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor; | ||
| auto interpolator = | ||
| *InterpolatorCreator<NearestNeighbor<double>>().set_axis(axis).set_values(values).create(); | ||
| std::vector<double> x; | ||
| std::vector<double> y; | ||
| for (double i = axis.front(); i < axis.back(); i += 0.01) { | ||
| x.push_back(i); | ||
| y.push_back(interpolator.compute(i)); | ||
| } | ||
| plt.plot(Args(x, y), Kwargs("label"_a = "NearestNeighbor")); | ||
| } | ||
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| // Stairstep Interpolator | ||
| { | ||
| using autoware::motion_utils::trajectory_container::interpolator::Stairstep; | ||
| auto interpolator = | ||
| *InterpolatorCreator<Stairstep<double>>().set_axis(axis).set_values(values).create(); | ||
| std::vector<double> x; | ||
| std::vector<double> y; | ||
| for (double i = axis.front(); i < axis.back(); i += 0.01) { | ||
| x.push_back(i); | ||
| y.push_back(interpolator.compute(i)); | ||
| } | ||
| plt.plot(Args(x, y), Kwargs("label"_a = "Stairstep")); | ||
| } | ||
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| plt.legend(); | ||
| plt.show(); | ||
| return 0; | ||
| } |
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...autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp
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| // Copyright 2024 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ | ||
| #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp> | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp> | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp> | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/linear.hpp> | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp> | ||
| #include <autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp> | ||
| #endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ |
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...on_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp
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| // Copyright 2024 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ | ||
| #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ | ||
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| #include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" | ||
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| #include <Eigen/Dense> | ||
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| #include <vector> | ||
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| namespace autoware::motion_utils::trajectory_container::interpolator | ||
| { | ||
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| /** | ||
| * @brief Class for Akima spline interpolation. | ||
| * | ||
| * This class provides methods to perform Akima spline interpolation on a set of data points. | ||
| */ | ||
| class AkimaSpline : public Interpolator<double> | ||
| { | ||
| template <typename InterpolatorType> | ||
| friend class InterpolatorCreator; | ||
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| private: | ||
| Eigen::VectorXd a_, b_, c_, d_; ///< Coefficients for the Akima spline. | ||
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| AkimaSpline() = default; | ||
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| /** | ||
| * @brief Compute the spline parameters. | ||
| * | ||
| * This method computes the coefficients for the Akima spline. | ||
| * | ||
| * @param axis The axis values. | ||
| * @param values The values to interpolate. | ||
| */ | ||
| void compute_parameters( | ||
| const Eigen::Ref<const Eigen::VectorXd> & axis, | ||
| const Eigen::Ref<const Eigen::VectorXd> & values); | ||
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| /** | ||
| * @brief Build the interpolator with the given values. | ||
| * | ||
| * @param axis The axis values. | ||
| * @param values The values to interpolate. | ||
| */ | ||
| void build_impl( | ||
| const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values) override; | ||
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| /** | ||
| * @brief Compute the interpolated value at the given point. | ||
| * | ||
| * @param s The point at which to compute the interpolated value. | ||
| * @return The interpolated value. | ||
| */ | ||
| [[nodiscard]] double compute_impl(const double & s) const override; | ||
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| /** | ||
| * @brief Compute the first derivative at the given point. | ||
| * | ||
| * @param s The point at which to compute the first derivative. | ||
| * @return The first derivative. | ||
| */ | ||
| [[nodiscard]] double compute_first_derivative_impl(const double & s) const override; | ||
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| /** | ||
| * @brief Compute the second derivative at the given point. | ||
| * | ||
| * @param s The point at which to compute the second derivative. | ||
| * @return The second derivative. | ||
| */ | ||
| [[nodiscard]] double compute_second_derivative_impl(const double & s) const override; | ||
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| public: | ||
| /** | ||
| * @brief Get the minimum number of required points for the interpolator. | ||
| * | ||
| * @return The minimum number of required points. | ||
| */ | ||
| [[nodiscard]] size_t minimum_required_points() const override { return 5; } | ||
| }; | ||
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| } // namespace autoware::motion_utils::trajectory_container::interpolator | ||
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| #endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ |
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