farm-ng-core
Public Types | Public Member Functions | List of all members
sophus::BasisSpline< TGroup > Class Template Reference

#include <spline.h>

Public Types

using LieGroup = TGroup
 
using Scalar = typename LieGroup::Scalar
 
using Transformation = Eigen::Matrix< Scalar, TGroup::kAmbientDim, TGroup::kAmbientDim >
 
using Tangent = typename LieGroup::Tangent
 

Public Member Functions

 BasisSpline (std::vector< LieGroup > parent_ts_control_point, double t0, double delta_t)
 
LieGroup parentFromSpline (double t) const
 
Transformation dtParentFromSpline (double t) const
 
Transformation dt2ParentFromSpline (double t) const
 
double t0 () const
 
double tmax () const
 
std::vector< LieGroup > const & parentFromsControlPoint () const
 
std::vector< LieGroup > & parentFromsControlPoint ()
 
int getNumSegments () const
 
double s (double t) const
 
double deltaT () const
 
IndexAndU indexAndU (double t) const
 

Member Typedef Documentation

◆ LieGroup

template<concepts::LieGroup TGroup>
using sophus::BasisSpline< TGroup >::LieGroup = TGroup

◆ Scalar

template<concepts::LieGroup TGroup>
using sophus::BasisSpline< TGroup >::Scalar = typename LieGroup::Scalar

◆ Tangent

template<concepts::LieGroup TGroup>
using sophus::BasisSpline< TGroup >::Tangent = typename LieGroup::Tangent

◆ Transformation

template<concepts::LieGroup TGroup>
using sophus::BasisSpline< TGroup >::Transformation = Eigen::Matrix<Scalar, TGroup::kAmbientDim, TGroup::kAmbientDim>

Constructor & Destructor Documentation

◆ BasisSpline()

template<concepts::LieGroup TGroup>
sophus::BasisSpline< TGroup >::BasisSpline ( std::vector< LieGroup >  parent_ts_control_point,
double  t0,
double  delta_t 
)
inline

Member Function Documentation

◆ deltaT()

template<concepts::LieGroup TGroup>
double sophus::BasisSpline< TGroup >::deltaT ( ) const
inline

◆ dt2ParentFromSpline()

template<concepts::LieGroup TGroup>
Transformation sophus::BasisSpline< TGroup >::dt2ParentFromSpline ( double  t) const
inline

◆ dtParentFromSpline()

template<concepts::LieGroup TGroup>
Transformation sophus::BasisSpline< TGroup >::dtParentFromSpline ( double  t) const
inline

◆ getNumSegments()

template<concepts::LieGroup TGroup>
int sophus::BasisSpline< TGroup >::getNumSegments ( ) const
inline

◆ indexAndU()

template<concepts::LieGroup TGroup>
IndexAndU sophus::BasisSpline< TGroup >::indexAndU ( double  t) const
inline

◆ parentFromsControlPoint() [1/2]

template<concepts::LieGroup TGroup>
std::vector<LieGroup>& sophus::BasisSpline< TGroup >::parentFromsControlPoint ( )
inline

◆ parentFromsControlPoint() [2/2]

template<concepts::LieGroup TGroup>
std::vector<LieGroup> const& sophus::BasisSpline< TGroup >::parentFromsControlPoint ( ) const
inline

◆ parentFromSpline()

template<concepts::LieGroup TGroup>
LieGroup sophus::BasisSpline< TGroup >::parentFromSpline ( double  t) const
inline

◆ s()

template<concepts::LieGroup TGroup>
double sophus::BasisSpline< TGroup >::s ( double  t) const
inline

◆ t0()

template<concepts::LieGroup TGroup>
double sophus::BasisSpline< TGroup >::t0 ( ) const
inline

◆ tmax()

template<concepts::LieGroup TGroup>
double sophus::BasisSpline< TGroup >::tmax ( ) const
inline
The documentation for this class was generated from the following file: