Gazebo Math

API Reference

7.5.1
TimeVaryingVolumetricGridLookupField< T, V, S > Class Template Reference

Lookup table for a time-varying volumetric dataset. This is an unimplemented template as the actual methods depend on the underlying structure. The key idea is that one uses a session S to hold a session token. This is so that we don't keep doing O(logn) lookups and instead step along the axis. More...

#include <TimeVaryingVolumetricGridLookupField.hh>

Public Member Functions

 TimeVaryingVolumetricGridLookupField ()
 Constructor. More...
 
void AddVolumetricGridField (const T &time, const VolumetricGridLookupField< V > &_field)
 Adds a volumetric grid field. More...
 
std::pair< Vector3< V >, Vector3< V > > Bounds (const S &_session)
 Get the bounds of this grid field. More...
 
CreateSession () const
 Creates a session for querying. More...
 
CreateSession (const T &_time) const
 Creates a session startingg at time T. More...
 
template<typename X >
std::optional< X > EstimateQuadrilinear (const S &_session, const std::vector< InterpolationPoint4D< T, V >> &_points, const std::vector< X > &_values1, const std::vector< X > &_values2, const X _default=X(0)) const
 Uses quadrilinear interpolation to estimate value of current point. Returns nullopt if query is out of range. More...
 
std::vector< InterpolationPoint4D< T, V > > LookUp (const S &_session, const Vector3< V > &_point, const Vector3< V > &_tol) const
 Looks up interpolators at a given time step. Use the session to set the time step. More...
 
std::optional< S > StepTo (const S &_session, const T &_time)
 Update session to new time. Returns new session pointer if more is available. Otherwise returns nullopt if we have run out of time. More...
 

Detailed Description

template<typename T, typename V, typename S>
class gz::math::TimeVaryingVolumetricGridLookupField< T, V, S >

Lookup table for a time-varying volumetric dataset. This is an unimplemented template as the actual methods depend on the underlying structure. The key idea is that one uses a session S to hold a session token. This is so that we don't keep doing O(logn) lookups and instead step along the axis.

Constructor & Destructor Documentation

◆ TimeVaryingVolumetricGridLookupField()

Member Function Documentation

◆ AddVolumetricGridField()

void AddVolumetricGridField ( const T &  time,
const VolumetricGridLookupField< V > &  _field 
)

Adds a volumetric grid field.

◆ Bounds()

std::pair<Vector3<V>, Vector3<V> > Bounds ( const S &  _session)

Get the bounds of this grid field.

Returns
A pair of vectors.

◆ CreateSession() [1/2]

S CreateSession ( ) const

Creates a session for querying.

◆ CreateSession() [2/2]

S CreateSession ( const T &  _time) const

Creates a session startingg at time T.

Parameters
[in]_timeThe time to create the session at.

◆ EstimateQuadrilinear()

std::optional<X> EstimateQuadrilinear ( const S &  _session,
const std::vector< InterpolationPoint4D< T, V >> &  _points,
const std::vector< X > &  _values1,
const std::vector< X > &  _values2,
const X  _default = X(0) 
) const

Uses quadrilinear interpolation to estimate value of current point. Returns nullopt if query is out of range.

Parameters
[in]_session- The session
[in]_points- The interpolation points retrieved from LookUp().
[in]_values1- Value array at timestep 1.
[in]_values2- Value array at timestep 2.
[in]_default- Value used if there is a hole in the data.
Returns
The estimated value for the point. Nullopt if we are outside the field. Default value if in the field but no value is in the index.

◆ LookUp()

std::vector<InterpolationPoint4D<T, V> > LookUp ( const S &  _session,
const Vector3< V > &  _point,
const Vector3< V > &  _tol 
) const

Looks up interpolators at a given time step. Use the session to set the time step.

Parameters
[in]_session- The session
[in]_point- The point to query
[in]_tol- Tolerance

◆ StepTo()

std::optional<S> StepTo ( const S &  _session,
const T &  _time 
)

Update session to new time. Returns new session pointer if more is available. Otherwise returns nullopt if we have run out of time.

Parameters
[in]_session- The session
[in]_time- Time to step to.

The documentation for this class was generated from the following file: