#include <ros/ros.h>
#include <tf/tf.h>
#include <iostream>
#include <map>
#include <math.h>
#include <vector>
#include <map>
#include <Eigen/Core>
#include <Eigen/QR>
// inlcude iostream and string libraries
#include <iostream>
#include <fstream>
#include <string>
using namespace std;
using namespace Eigen;
//获取拟合的参数曲线在x时的y值
double polyeval(Eigen::VectorXd coeffs, double x)
{
double result = 0.0;
for (int i = 0; i < coeffs.size(); i++)
{
result += coeffs[i] * pow(x, i);
}
return result;
}
//多项式拟合的一个函数,返回拟合的参数曲线系数
Eigen::VectorXd polyfit(Eigen::VectorXd xvals, Eigen::VectorXd yvals, int order)
{
assert(xvals.size() == yvals.size());
assert(order >= 1 && order <= xvals.size() - 1);
Eigen::MatrixXd A(xvals.size(), order + 1);
for (int i = 0; i < xvals.size(); i++)
A(i, 0) = 1.0;
for (int j = 0; j < xvals.size(); j++)
{
for (int i = 0; i < order; i++)
A(j, i + 1) = A(j, i) * xvals(j);
}
auto Q = A.householderQr();
auto result = Q.solve(yvals);
return result;
}
int main(int argc, char **argv)
{
//Initiate ROS
ros::init(argc, argv, "eigen_test");
ROS_INFO("Waiting for global path msgs ~");
int N = 4;
VectorXd x_veh(N);
VectorXd y_veh(N);
x_veh[0] = 0.0;
y_veh[0] = 0.0;
x_veh[1] = 1.0;
y_veh[1] = 1.0;
x_veh[2] = 2.0;
y_veh[2] = 1.0;
x_veh[3] = 3.0;
y_veh[3] = 0.0;
// Fit waypoints
auto coeffs = polyfit(x_veh, y_veh, 3);
ROS_INFO("coeffs size:%d",coeffs.size());
for(int i=0;i < coeffs.size();i++)
{
ROS_INFO("coeffs[%d]:%f",i,coeffs[i]);
}
ros::waitForShutdown();
return 0;
}