Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Refactor curvature sampling loop to avoid using float counter #1428

Merged
merged 2 commits into from
Nov 11, 2024
Merged

Refactor curvature sampling loop to avoid using float counter #1428

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c1e200e
Refactor curvature sampling loop to avoid using float counter
TakanoTaiga Oct 23, 2024
f42fa0e
add comment
TakanoTaiga Nov 6, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 10 additions & 4 deletions common/math/geometry/src/spline/hermite_curve.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -313,13 +313,19 @@ std::pair<double, double> HermiteCurve::get2DMinMaxCurvatureValue() const
{
std::pair<double, double> ret;
std::vector<double> curvatures;
/**
* @brief 0.1 is a sampling resolution of the curvature
*/
for (double s = 0; s <= 1; s = s + 0.1) {

/// @note Specifies the number of samples. The curve is divided into 10 segments for calculation.
constexpr int sample_count = 10;

/// @note Sampling resolution. Calculated as 1.0 divided by sample_count.
constexpr double resolution = 1.0 / sample_count;

for (int i = 0; i <= sample_count; ++i) {
double s = i * resolution;
double curvature = get2DCurvature(s);
curvatures.push_back(curvature);
}

ret.first = *std::min_element(curvatures.begin(), curvatures.end());
ret.second = *std::max_element(curvatures.begin(), curvatures.end());
return ret;
Expand Down
Loading