farm-ng-core
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sophus::BasisSplineImpl< 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

 BasisSplineImpl (std::vector< LieGroup > const &parent_ts_control_point, double delta_t)
 
LieGroup parentFromSpline (int i, double u) const
 
Transformation dtParentFromSpline (int i, double u) const
 
Transformation dt2ParentFromSpline (int i, double u) const
 
std::vector< LieGroup > const & parentFromsControlPoint () const
 
std::vector< LieGroup > & parentFromsControlPoint ()
 
int getNumSegments () const
 
double deltaT () const
 

Member Typedef Documentation

◆ LieGroup

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

◆ Scalar

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

◆ Tangent

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

◆ Transformation

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

Constructor & Destructor Documentation

◆ BasisSplineImpl()

template<concepts::LieGroup TGroup>
sophus::BasisSplineImpl< TGroup >::BasisSplineImpl ( std::vector< LieGroup > const &  parent_ts_control_point,
double  delta_t 
)
inline

Member Function Documentation

◆ deltaT()

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

◆ dt2ParentFromSpline()

template<concepts::LieGroup TGroup>
Transformation sophus::BasisSplineImpl< TGroup >::dt2ParentFromSpline ( int  i,
double  u 
) const
inline

◆ dtParentFromSpline()

template<concepts::LieGroup TGroup>
Transformation sophus::BasisSplineImpl< TGroup >::dtParentFromSpline ( int  i,
double  u 
) const
inline

◆ getNumSegments()

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

◆ parentFromsControlPoint() [1/2]

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

◆ parentFromsControlPoint() [2/2]

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

◆ parentFromSpline()

template<concepts::LieGroup TGroup>
LieGroup sophus::BasisSplineImpl< TGroup >::parentFromSpline ( int  i,
double  u 
) const
inline
The documentation for this class was generated from the following file: