From d9653789ebb9a76b2686235f1bc2593d9e78e9b0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 14 Feb 2022 12:43:26 +0900 Subject: [PATCH] add explanation to the function Signed-off-by: Takayuki Murooka --- common/interpolation/src/spline_interpolation.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/common/interpolation/src/spline_interpolation.cpp b/common/interpolation/src/spline_interpolation.cpp index 21cb469f0cf46..d383383a8842f 100644 --- a/common/interpolation/src/spline_interpolation.cpp +++ b/common/interpolation/src/spline_interpolation.cpp @@ -128,6 +128,10 @@ interpolation::MultiSplineCoef getSplineCoefficients( return multi_spline_coef; } +//!< @brief get values of spline interpolation on designated sampling points +// e.g. Assuming that query_keys are t vector for sampling, and multi_spline_coef is for x, +// meaning that spline interpolation was applied to x(t), +// return value will be x(t) vector std::vector getSplineInterpolatedValues( const std::vector & base_keys, const std::vector & query_keys, const interpolation::MultiSplineCoef & multi_spline_coef) @@ -154,6 +158,10 @@ std::vector getSplineInterpolatedValues( return res; } +//!< @brief get differential values of spline interpolation on designated sampling points +// e.g. Assuming that query_keys are t vector for sampling, and multi_spline_coef is for x, +// meaning that spline interpolation was applied to x(t), +// return value will be dx/dt(t) vector std::vector getSplineInterpolatedDiffValues( const std::vector & base_keys, const std::vector & query_keys, const interpolation::MultiSplineCoef & multi_spline_coef)