| // Copyright (c) 2025, Unitree Robotics Co., Ltd. | |
| // All rights reserved. | |
| inline std::vector<float> linear_interpolate(float t, const std::vector<float>& ts, const std::vector<std::vector<float>>& ys) | |
| { | |
| assert(ts.size() == ys.size() && !ys.empty() && ts.size() > 1 && ys[0].size() > 0); | |
| if (t <= ts[0]) return ys[0]; | |
| if (t >= ts[ts.size() - 1]) return ys[ts.size() - 1]; | |
| for (int i = 0; i < ts.size() - 1; ++i) | |
| { | |
| if (t >= ts[i] && t <= ts[i + 1]) | |
| { | |
| float alpha = (t - ts[i]) / (ts[i + 1] - ts[i]); | |
| std::vector<float> result(ys[i].size()); | |
| for (int j = 0; j < ys[i].size(); ++j) | |
| { | |
| result[j] = ys[i][j] * (1 - alpha) + ys[i + 1][j] * alpha; | |
| } | |
| return result; | |
| } | |
| } | |
| return std::vector<float>(ys[0].size(), 0.0f); // Fallback, should not reach here | |
| } | |