Class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num>

java.lang.Object

org.wpilib.math.interpolation.InterpolatingMatrixTreeMap<K,R,C>

Type Parameters:

K - Key type.

R - Number of matrix rows.

C - Number of matrix columns.

public class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num>
extends Object

Interpolating Tree Maps are used to get values at points that are not defined by making a guess from points that are defined. This uses linear interpolation.

Constructor Summary

Constructors

Constructor	Description
InterpolatingMatrixTreeMap()	Default constructor.

Method Summary

Modifier and Type	Method	Description
Matrix<R,C>	get(K key)	Returns the value associated with a given key.
Matrix<R,C>	interpolate(Matrix<R,C> val1, Matrix<R,C> val2, double d)	Return the value interpolated between val1 and val2 by the interpolant d.
double	inverseInterpolate(K up, K q, K down)	Return where within interpolation range [0, 1] q is between down and up.
void	put(K key, Matrix<R,C> value)	Inserts a key-value pair.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

InterpolatingMatrixTreeMap

public InterpolatingMatrixTreeMap()

Default constructor.

Method Details

put

public void put(K key,
 Matrix<R,C> value)

Inserts a key-value pair.

Parameters:

key - The key.

value - The value.

get

public Matrix<R,C> get(K key)

Returns the value associated with a given key.

If there's no matching key, the value returned will be a linear interpolation between the keys before and after the provided one.

Parameters:

key - The key.

Returns:

The value associated with the given key.

interpolate

public Matrix<R,C> interpolate(Matrix<R,C> val1,
 Matrix<R,C> val2,
 double d)

Return the value interpolated between val1 and val2 by the interpolant d.

Parameters:

val1 - The lower part of the interpolation range.

val2 - The upper part of the interpolation range.

d - The interpolant in the range [0, 1].

Returns:

The interpolated value.

inverseInterpolate

public double inverseInterpolate(K up,
 K q,
 K down)

Return where within interpolation range [0, 1] q is between down and up.

Parameters:

up - Upper part of interpolation range.

q - Query.

down - Lower part of interpolation range.

Returns:

Interpolant in range [0, 1].