move SplineInterpolationPoints2d to another file

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

common/interpolation/CMakeLists.txt

@@ -15,6 +15,7 @@ ament_auto_find_build_dependencies()
 ament_auto_add_library(interpolation SHARED
   src/linear_interpolation.cpp
   src/spline_interpolation.cpp
+  src/spline_interpolation_points_2d.cpp
 )
 
 # Test

common/interpolation/include/interpolation/spline_interpolation.hpp

@@ -49,82 +49,34 @@ struct MultiSplineCoef
 std::vector<double> slerp(
   const std::vector<double> & base_keys, const std::vector<double> & base_values,
   const std::vector<double> & query_keys);
-
-// std::vector<double> slerpDiff(
-//   const std::vector<double> & base_keys, const std::vector<double> & base_values,
-//   const std::vector<double> & query_keys);
-
-// TODO(murooka) use template
-// template <typename T>
-// std::vector<double> slerpYawFromPoints(const std::vector<T> & points);
-std::vector<double> slerpYawFromPoints(const std::vector<geometry_msgs::msg::Point> & points);
 }  // namespace interpolation
 
 // non-static 1-dimensional spline interpolation
 //
 // Usage:
 // ```
-// SplineInterpolation1d spline;
-// spline.calcSplineCoefficients(base_keys, base_values);  // memorize pre-interpolation result
-// internally
-// const auto interpolation_result1 = spline.getSplineInterpolatedValues(base_keys,
-//   query_keys1);
-// const auto interpolation_result2 = spline.getSplineInterpolatedValues(base_keys,
-//   query_keys2);
+// SplineInterpolation spline;
+// // memorize pre-interpolation result internally
+// spline.calcSplineCoefficients(base_keys, base_values);
+// const auto interpolation_result1 = spline.getSplineInterpolatedValues(
+//   base_keys, query_keys1);
+// const auto interpolation_result2 = spline.getSplineInterpolatedValues(
+//   base_keys, query_keys2);
 // ```
-class SplineInterpolation1d
+class SplineInterpolation
 {
 public:
-  SplineInterpolation1d() = default;
+  SplineInterpolation() = default;
 
   void calcSplineCoefficients(
     const std::vector<double> & base_keys, const std::vector<double> & base_values);
 
   std::vector<double> getSplineInterpolatedValues(const std::vector<double> & query_keys) const;
+  std::vector<double> getSplineInterpolatedDiffValues(const std::vector<double> & query_keys) const;
 
 private:
   std::vector<double> base_keys_;
   interpolation::MultiSplineCoef multi_spline_coef_;
 };
 
-// non-static points spline interpolation
-// NOTE: We can calculate yaw from the x and y by interpolation derivatives.
-//
-// Usage:
-// ```
-// SplineInterpolationPoint2d spline;
-// spline.calcSplineCoefficients(base_keys, base_values);  // memorize pre-interpolation result
-// internally
-// const auto interpolation_result1 = spline.getSplineInterpolatedPoints(base_keys,
-//   query_keys1);
-// const auto interpolation_result2 = spline.getSplineInterpolatedPoints(base_keys,
-//   query_keys2);
-// const auto yaw_interpolation_result = spline.getSplineInterpolatedYaws(base_keys,
-//   query_keys1);
-// ```
-class SplineInterpolationPoint2d
-{
-public:
-  SplineInterpolationPoint2d() = default;
-
-  // TODO(murooka) use template
-  // template <typename T>
-  // void calcSplineCoefficients(const std::vector<T> & points);
-  void calcSplineCoefficients(const std::vector<geometry_msgs::msg::Point> & points);
-
-  // TODO(murooka) implement these functions
-  // std::vector<geometry_msgs::msg::Point> getSplineInterpolatedPoints(const double width);
-  // std::vector<geometry_msgs::msg::Pose> getSplineInterpolatedPoses(const double width);
-
-  geometry_msgs::msg::Point getSplineInterpolatedPoint(const size_t idx, const double s) const;
-  double getSplineInterpolatedYaw(const size_t idx, const double s) const;
-
-  double getAccumulatedLength(const size_t idx) const;
-
-private:
-  interpolation::MultiSplineCoef multi_spline_coef_x_;
-  interpolation::MultiSplineCoef multi_spline_coef_y_;
-  std::vector<double> base_s_vec_;
-};
-
 #endif  // INTERPOLATION__SPLINE_INTERPOLATION_HPP_

common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp

@@ -0,0 +1,71 @@
+// Copyright 2021 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.
+
+#ifndef INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
+#define INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
+
+#include "interpolation/spline_interpolation.hpp"
+
+#include <vector>
+
+namespace interpolation
+{
+// TODO(murooka) use template
+// template <typename T>
+// std::vector<double> slerpYawFromPoints(const std::vector<T> & points);
+std::vector<double> slerpYawFromPoints(const std::vector<geometry_msgs::msg::Point> & points);
+}  // namespace interpolation
+
+// non-static points spline interpolation
+// NOTE: We can calculate yaw from the x and y by interpolation derivatives.
+//
+// Usage:
+// ```
+// SplineInterpolationPoints2d spline;
+// // memorize pre-interpolation result internally
+// spline.calcSplineCoefficients(base_keys, base_values);
+// const auto interpolation_result1 = spline.getSplineInterpolatedPoints(
+//   base_keys, query_keys1);
+// const auto interpolation_result2 = spline.getSplineInterpolatedPoints(
+//   base_keys, query_keys2);
+// const auto yaw_interpolation_result = spline.getSplineInterpolatedYaws(
+//   base_keys, query_keys1);
+// ```
+class SplineInterpolationPoints2d
+{
+public:
+  SplineInterpolationPoints2d() = default;
+
+  // TODO(murooka) use template
+  // template <typename T>
+  // void calcSplineCoefficients(const std::vector<T> & points);
+  void calcSplineCoefficients(const std::vector<geometry_msgs::msg::Point> & points);
+
+  // TODO(murooka) implement these functions
+  // std::vector<geometry_msgs::msg::Point> getSplineInterpolatedPoints(const double width);
+  // std::vector<geometry_msgs::msg::Pose> getSplineInterpolatedPoses(const double width);
+
+  geometry_msgs::msg::Point getSplineInterpolatedPoint(const size_t idx, const double s) const;
+  double getSplineInterpolatedYaw(const size_t idx, const double s) const;
+
+  double getAccumulatedLength(const size_t idx) const;
+
+private:
+  SplineInterpolation slerp_x_;
+  SplineInterpolation slerp_y_;
+
+  std::vector<double> base_s_vec_;
+};
+
+#endif  // INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_