Trilinear and bary-linear interpolations

lrauv_ignition_plugins/CMakeLists.txt

@@ -316,6 +316,18 @@ if(BUILD_TESTING)
     lrauv_range_bearing_request
     lrauv_range_bearing_response)
   gtest_discover_tests(test_range_bearing)
+
+  add_executable(UNIT_Interpolation_TEST src/Interpolation_TEST.cc)
+  target_include_directories(UNIT_Interpolation_TEST
+    PUBLIC ${PCL_INCLUDE_DIRS})
+  target_link_libraries(UNIT_Interpolation_TEST
+    PUBLIC gtest_main
+    PRIVATE
+      ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+      ignition-common${IGN_COMMON_VER}::profiler
+      ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
+      ${PCL_LIBRARIES})
+  gtest_discover_tests(UNIT_Interpolation_TEST)
 endif()
 
 #============================================================================

lrauv_ignition_plugins/data/interpolation_prism.csv

@@ -0,0 +1,10 @@
+elapsed_time_second,latitude_degree,longitude_degree,depth_meter,sea_water_temperature_degC,sea_water_salinity_psu,mass_concentration_of_chlorophyll_in_sea_water_ugram_per_liter,eastward_sea_water_velocity_meter_per_sec,northward_sea_water_velocity_meter_per_sec
+0,-0.00003,0.00003,0,0,0,300,-1,0
+0,-0.00006,0.00003,0,0,0,300,-1,0
+0,-0.00003,0.00006,0,0,0,300,-1,0
+0,-0.00006,0.00006,0,0,0,300,-1,0
+0,-0.00003,0.00003,2,0,0,100,-1,0
+0,-0.00006,0.00003,2,0,0,100,-1,0
+0,-0.00003,0.00006,2,0,0,100,-1,0
+0,-0.00006,0.00006,2,0,0,100,-1,0
+0,1,1,100,0,0,NaN,0,0

lrauv_ignition_plugins/data/interpolation_test.csv

@@ -4,11 +4,11 @@ elapsed_time_second,latitude_degree,longitude_degree,depth_meter,sea_water_tempe
 0,-0.00003,-0.00003,0,0,0,100,-1,0
 0,0.00000,-0.00003,0,0,0,100,-1,0
 0,0.00003,-0.00003,0,0,0,100,-1,0
-0,-0.00009,-0.00003,1,0,0,300,-1,0
-0,-0.00006,-0.00003,1,0,0,300,-1,0
-0,-0.00003,-0.00003,1,0,0,300,-1,0
-0,0.00000,-0.00003,1,0,0,300,-1,0
-0,0.00003,-0.00003,1,0,0,300,-1,0
+0,-0.00009,-0.00003,2,0,0,300,-1,0
+0,-0.00006,-0.00003,2,0,0,300,-1,0
+0,-0.00003,-0.00003,2,0,0,300,-1,0
+0,0.00000,-0.00003,2,0,0,300,-1,0
+0,0.00003,-0.00003,2,0,0,300,-1,0
 0,-0.00009,0.00000,0,0,0,200,-1,0
 0,-0.00006,0.00000,0,0,0,200,-1,0
 0,-0.00003,0.00000,0,0,0,200,-1,0
@@ -21,8 +21,18 @@ elapsed_time_second,latitude_degree,longitude_degree,depth_meter,sea_water_tempe
 0,-0.00003,0.00003,0,0,0,300,-1,0
 0,0.00000,0.00003,0,0,0,300,-1,0
 0,0.00003,0.00003,0,0,0,300,-1,0
-0,-0.00009,0.00003,1,0,0,100,-1,0
-0,-0.00006,0.00003,1,0,0,100,-1,0
-0,-0.00003,0.00003,1,0,0,100,-1,0
-0,0.00000,0.00003,1,0,0,100,-1,0
-0,0.00003,0.00003,1,0,0,100,-1,0
+0,-0.00009,0.00003,2,0,0,100,-1,0
+0,-0.00006,0.00003,2,0,0,100,-1,0
+0,-0.00003,0.00003,2,0,0,100,-1,0
+0,0.00000,0.00003,2,0,0,100,-1,0
+0,0.00003,0.00003,2,0,0,100,-1,0
+0,-0.00009,0.00006,0,0,0,300,-1,0
+0,-0.00006,0.00006,0,0,0,300,-1,0
+0,-0.00003,0.00006,0,0,0,300,-1,0
+0,0.00000,0.00006,0,0,0,300,-1,0
+0,0.00003,0.00006,0,0,0,300,-1,0
+0,-0.00009,0.00006,2,0,0,100,-1,0
+0,-0.00006,0.00006,2,0,0,100,-1,0
+0,-0.00003,0.00006,2,0,0,100,-1,0
+0,0.00000,0.00006,2,0,0,100,-1,0
+0,0.00003,0.00006,2,0,0,100,-1,0