.. _program_listing_file_src_navtk_utils_interpolation.hpp:

Program Listing for File interpolation.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_utils_interpolation.hpp>` (``src/navtk/utils/interpolation.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <type_traits>
   #include <typeinfo>
   
   #include <navtk/aspn.hpp>
   #include <navtk/not_null.hpp>
   #include <navtk/tensors.hpp>
   #include <navtk/utils/Ordered.hpp>
   
   namespace navtk {
   namespace utils {
   
   template <typename T>
   std::vector<Size> condition_source_data(std::vector<double> &time_source,
                                           std::vector<T> &data_source,
                                           std::vector<double> &time_interp);
   
   std::pair<std::vector<Size>, std::vector<double>> linear_interpolate(
       const std::vector<double> &time_source,
       const std::vector<double> &data_source,
       const std::vector<double> &time_interp);
   
   std::pair<std::vector<Size>, std::vector<double>> quadratic_spline_interpolate(
       const std::vector<double> &time_source,
       const std::vector<double> &data_source,
       const std::vector<double> &time_interp);
   
   std::pair<std::vector<Size>, std::vector<double>> cubic_spline_interpolate(
       const std::vector<double> &orig_time_source,
       const std::vector<double> &data_source,
       const std::vector<double> &orig_time_interp);
   
   template <typename Y>
   Y linear_interpolate(double x0, const Y &y0, double x1, const Y &y1, double x) {
       if (x0 == x1) return y1;
       double xpart = (x - x0) / (x1 - x0);
       Y ypart      = (y1 - y0) * xpart;
       return y0 + ypart;
   }
   
   template <typename Y>
   Y linear_interpolate(const aspn_xtensor::TypeTimestamp &x0,
                        const Y &y0,
                        const aspn_xtensor::TypeTimestamp &x1,
                        const Y &y1,
                        const aspn_xtensor::TypeTimestamp &x) {
       if (x0 == x1) return y1;
       double xpart = (double)(x.get_elapsed_nsec() - x0.get_elapsed_nsec()) /
                      (x1.get_elapsed_nsec() - x0.get_elapsed_nsec());
       Y ypart = (y1 - y0) * xpart;
       return y0 + ypart;
   }
   
   aspn_xtensor::MeasurementPositionVelocityAttitude linear_interp_pva(
       const aspn_xtensor::MeasurementPositionVelocityAttitude &pva1,
       const aspn_xtensor::MeasurementPositionVelocityAttitude &pva2,
       const aspn_xtensor::TypeTimestamp &t);
   
   not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> linear_interp_pva(
       navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva1,
       navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva2,
       const aspn_xtensor::TypeTimestamp &t);
   
   aspn_xtensor::MeasurementPositionVelocityAttitude linear_extrapolate_pva(
       const aspn_xtensor::MeasurementPositionVelocityAttitude &pva1,
       const aspn_xtensor::MeasurementPositionVelocityAttitude &pva2,
       const aspn_xtensor::TypeTimestamp &t);
   
   not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> linear_extrapolate_pva(
       navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva1,
       navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva2,
       const aspn_xtensor::TypeTimestamp &t);
   
   Vector3 linear_interp_rpy(const aspn_xtensor::TypeTimestamp &t1,
                             const Vector3 &rpy1,
                             const aspn_xtensor::TypeTimestamp &t2,
                             const Vector3 &rpy2,
                             const aspn_xtensor::TypeTimestamp &t);
   
   Vector3 linear_extrapolate_rpy(const aspn_xtensor::TypeTimestamp &t1,
                                  const Vector3 &rpy1,
                                  const aspn_xtensor::TypeTimestamp &t2,
                                  const Vector3 &rpy2,
                                  const aspn_xtensor::TypeTimestamp &t);
   
   }  // namespace utils
   }  // namespace navtk