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fix(interpolation): fix spline interpolation when the number of input data is 3 #1162

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merged 3 commits into from
Jun 24, 2022
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fix(interpolation): fix spline interpolation when the number of input data is 3 #1162

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99a420b
fix(interpolation): fix spline interpolation when the num of input da…
mkuri Jun 23, 2022
b650ff8
test(interpolation): add a random query test when size of base_keys is 3
mkuri Jun 23, 2022
ed03a50
chore(interpolation): fix spell
mkuri Jun 23, 2022
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2 changes: 1 addition & 1 deletion common/interpolation/src/spline_interpolation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ inline std::vector<double> solveTridiagonalMatrixAlgorithm(const TDMACoef & tdma
x[j] = p[j] * x[j + 1] + q[j];
}
} else {
x.push_back(d[0] / b[0]);
x[0] = (d[0] / b[0]);
}

return x;
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14 changes: 13 additions & 1 deletion common/interpolation/test/src/test_spline_interpolation.cpp
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Expand Up @@ -61,7 +61,7 @@ TEST(spline_interpolation, slerp)
}
}

{ // curve: query_keys is same as random
{ // curve: query_keys is random
const std::vector<double> base_keys{-1.5, 1.0, 5.0, 10.0, 15.0, 20.0};
const std::vector<double> base_values{-1.2, 0.5, 1.0, 1.2, 2.0, 1.0};
const std::vector<double> query_keys{0.0, 8.0, 18.0};
Expand Down Expand Up @@ -96,6 +96,18 @@ TEST(spline_interpolation, slerp)
EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
}
}

{ // curve: query_keys is random. size of base_keys is 3 (edge case in the implementation)
const std::vector<double> base_keys{-1.5, 1.0, 5.0};
const std::vector<double> base_values{-1.2, 0.5, 1.0};
const std::vector<double> query_keys{-1.0, 0.0, 4.0};
const std::vector<double> ans{-0.808769, -0.077539, 1.035096};

const auto query_values = interpolation::slerp(base_keys, base_values, query_keys);
for (size_t i = 0; i < query_values.size(); ++i) {
EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon);
}
}
}

TEST(spline_interpolation, slerpYawFromPoints)
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