[Positioner] Add Point3D::interpolate()
This new function allows to compute intermediate, interpolated points between two points. It will be used to generate reference points in a line between two points. Sadly, OwlPS Positioner gets a new dependency on libclaw_tween.
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@ -11,6 +11,7 @@ libraries installed:
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- //pcap//
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- the //Boost// C++ libraries, and particularly the ``program_options``
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module
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- the //Tween// module of the //Claw// C++ library
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- //iwlib// from the Wireless Tools (package``libiw-dev`` on Debian,
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``wireless-tools-devel`` on Fedora); only for OwlPS Listener's ``-K``
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option
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@ -0,0 +1,28 @@
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# This file is part of the Owl Positioning System (OwlPS) project.
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# It is subject to the copyright notice and license terms in the
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# COPYRIGHT.t2t file found in the top-level directory of this
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# distribution and at
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# http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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# No part of the OwlPS Project, including this file, may be copied,
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# modified, propagated, or distributed except according to the terms
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# contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
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# distributed along with this file, either separately or by replacing
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# this notice by the COPYRIGHT.t2t file's contents.
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# This module tries to find the Claw Tween library and sets the
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# following variables:
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# CLAWTWEEN_INCLUDE_DIR
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# CLAWTWEEN_LIBRARY
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# CLAWTWEEN_FOUND
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# Search for the header file
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find_path(CLAWTWEEN_INCLUDE_DIR tweener.hpp
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PATH_SUFFIXES include/claw/tween)
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# Search for the library
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find_library(CLAWTWEEN_LIBRARY claw_tween
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PATH_SUFFIXES lib)
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# Did we find everything we need?
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(ClawTween DEFAULT_MSG
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CLAWTWEEN_LIBRARY CLAWTWEEN_INCLUDE_DIR)
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@ -18,7 +18,16 @@ if (NOT Boost_FOUND)
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endif()
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include_directories(${Boost_INCLUDE_DIRS})
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set(EXTRA_LIBS ${EXTRA_LIBS} ${Boost_LIBRARIES} m)
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# Make sure libclaw_tween is installed
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find_package(ClawTween)
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if (NOT CLAWTWEEN_FOUND)
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message(WARNING
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"OwlPS Positioner dependency missing: Claw Tween (libclaw_tween)")
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return()
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endif()
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include_directories(${CLAWTWEEN_INCLUDE_DIR})
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set(EXTRA_LIBS ${EXTRA_LIBS} ${Boost_LIBRARIES} ${CLAWTWEEN_LIBRARY} m)
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# On Linux and other GNU systems (e.g. GNU/kFreeBSD), we need -lrt for
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# clock_gettime()
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@ -18,6 +18,11 @@
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#include <sstream>
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// For interpolate()
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#include <claw/tween/tweener_group.hpp>
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#include <claw/tween/single_tweener.hpp>
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#include <claw/tween/easing/easing_linear.hpp>
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using namespace std ;
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@ -122,6 +127,72 @@ void Point3D::rotate_2d(const Point3D &c, float angle)
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/* *** Other operations *** */
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/**
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* This function computes the intermediate (linear) values between the
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* current point and the point `end`.
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*
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* The number of steps is function of `step_hint` and the distance
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* between the two points. `step_hint`, as its name indicates, is a hint
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* of the desired distance between two intermediate coordinates. It is
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* adjusted by the function to distribute equally the intermediate
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* coordinates between the two extremities.
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*
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* @param[in] end Coordinate of the last extremity.
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* @param[in,out] step_hint The desired approximate distance between two
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* intermediate points; when the function returns, it is set to the
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* actual step used.
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* @param[out] interpolated The vector in which the intermediate values
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* will be stored. The two extremities are not included in this vector,
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* but of course the calling function can add values prior and after the
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* function call.
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*/
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void Point3D::interpolate(const Point3D &end, float &step_hint,
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std::vector<Point3D> &interpolated) const
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{
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/**
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* Example of step computation: if the distance between the two
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* extremities (`*this` and `end`) is 12.42 m and `step_hint` is set
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* to 2 m, the number of steps is 12 / 2 == 6, and the actual distance
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* between two intermediate coordinates is 12.42 / 6 == 2.07 m.
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*/
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float dist = distance(end) ;
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int nb_steps = dist / step_hint ;
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step_hint = dist / nb_steps ;
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/* Set up the tweener */
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// Individual tweeners for X, Y and Z
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double tweened_x = x, tweened_y = y, tweened_z = z ;
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claw::tween::single_tweener
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interpolator_x(tweened_x, end.x, dist,
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claw::tween::easing_linear::ease_in) ;
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claw::tween::single_tweener
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interpolator_y(tweened_y, end.y, dist,
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claw::tween::easing_linear::ease_in) ;
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claw::tween::single_tweener
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interpolator_z(tweened_z, end.z, dist,
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claw::tween::easing_linear::ease_in) ;
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// Consolidated tweener for both X and Y
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claw::tween::tweener_group interpolator ;
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interpolator.insert(interpolator_x) ;
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interpolator.insert(interpolator_y) ;
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interpolator.insert(interpolator_z) ;
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/* Compute interpolated values */
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do
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{
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// Update tweened_x, tweened_y, tweened_z
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interpolator.update(step_hint);
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// Add the new coordinates to the vector
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interpolated.push_back(Point3D(tweened_x, tweened_y, tweened_z)) ;
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}
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while (! interpolator.is_finished()) ;
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}
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/* *** Operators *** */
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@ -79,6 +79,13 @@ public:
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void rotate_2d(const Point3D ¢er, float angle) ;
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//@}
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/** @name Other operations */
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//@{
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/// Interpolates the coordinates of a Point3D
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void interpolate(const Point3D &end, float &step_hint,
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std::vector<Point3D> &interpolated) const ;
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//@}
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/** @name Operators */
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//@{
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Point3D& operator=(const Point3D &source) ;
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