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Remove approximated method, since online method is efficient enough

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This commit is contained in:
Emma Broman
2020-05-18 10:16:54 +02:00
parent cb88f892c7
commit dd61dd9733
2 changed files with 1 additions and 51 deletions
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modules/autonavigation/pathcurves.cpp
+1 -46
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@@ -44,28 +44,10 @@ const double PathCurve::length() const {
}
glm::dvec3 PathCurve::positionAt(double relativeLength) {
double u = approximatedCurveParameter(relativeLength * _totalLength); // TODO: only use relative length?
double u = curveParameter(relativeLength * _totalLength); // TODO: only use relative length?
return interpolate(u);
}
double PathCurve::approximatedCurveParameter(double s) {
if (s <= Epsilon) return 0.0;
if (s >= _totalLength) return 1.0;
std::map<double, double>::iterator itSample = _parameterPairs.upper_bound(s);
std::map<double, double>::iterator itPrevSample = std::prev(itSample, 1);
double sSample = itSample->first;
double sPrevSample = itPrevSample->first;
double uSample = itSample->second;
double uPrevSample = itPrevSample->second;
double slope = (uSample - uPrevSample) / (sSample - sPrevSample);
// linear fit (TODO: investigate higher order fits?)
return uPrevSample + slope * (s - sPrevSample);
}
// Compute the curve parameter from an arc length value, using a combination of
// Newton's method and bisection. Source:
// https://www.geometrictools.com/Documentation/MovingAlongCurveSpecifiedSpeed.pdf
@@ -162,33 +144,6 @@ void PathCurve::initParameterIntervals() {
for (unsigned int i = 1; i <= _nrSegments; i++) {
_parameterIntervals[i] = _lengthSums[i] / _totalLength;
}
// prepare samples for arc length reparameterization
_parameterPairs.clear();
_parameterPairs[0.0] = 0.0;
double s = 0.0;
for (int i = 1; i <= _nrSegments; ++i) {
double segmentLength = _lengths[i];
// TODO: make nr of samples dependent on segment length somehow
double deltaLength = _lengths[i] / _nrParameterSamplesPerSegment;
double endLength = _lengthSums[i];
double startLength = _lengthSums[i-1];
s += deltaLength;
while (s < endLength) {
double sSegment = s - startLength;
double sSegmentEased = segmentLength * ghoul::cubicEaseInOut(sSegment / segmentLength);
double sEased = sSegmentEased + startLength;
double u = curveParameter(sEased);
_parameterPairs[sEased] = u;
s += deltaLength;
}
_parameterPairs[_lengthSums[i]] = _parameterIntervals[i];
}
_parameterPairs[_totalLength] = 1.0;
// TODO: remove when not needed
//LINFO(fmt::format("number samples: {}", _parameterPairs.size()));
//LINFO(fmt::format("next to last value: {}", std::prev(_parameterPairs.end(), 2)->second));
}
double PathCurve::approximatedDerivative(double u, double h) {
modules/autonavigation/pathcurves.h
-5
View File
@@ -44,8 +44,6 @@ public:
const double length() const;
glm::dvec3 positionAt(double relativeLength);
double approximatedCurveParameter(double s);
// compute curve parameter that matches the input arc length s
double curveParameter(double s);
@@ -68,9 +66,6 @@ protected:
std::vector<double> _lengths;
std::vector<double> _lengthSums;
double _totalLength;
int _nrParameterSamplesPerSegment = 100;
std::map<double, double> _parameterPairs; // s (arc length), u (curve parameter)
};
class Bezier3Curve : public PathCurve {