Public Member Functions | Private Attributes
Sophus::Interpolator< Group > Class Template Reference

Interpolate between two lie group objects. More...

#include <interpolators.hpp>

List of all members.

Public Member Functions

 Interpolator (const Group &T_a, const Group &T_b)
Group operator() (const double &t)

Private Attributes

Group T_a
Group::Tangent tangent

Detailed Description

template<typename Group>
class Sophus::Interpolator< Group >

Interpolate between two lie group objects.

Working with Sophus::SE3f classes, but haven't tested with the other group types yet.

Refer to Section 7 in http://ethaneade.com/lie.pdf.

An alternative (slow/fast?) way of returning the result is:

 Group::exp(t*tangent_a + (1.0-t)*tangent_b);

Definition at line 53 of file interpolators.hpp.


Constructor & Destructor Documentation

template<typename Group>
Sophus::Interpolator< Group >::Interpolator ( const Group &  T_a,
const Group &  T_b 
) [inline]

Definition at line 55 of file interpolators.hpp.


Member Function Documentation

template<typename Group>
Group Sophus::Interpolator< Group >::operator() ( const double &  t) [inline]

Definition at line 61 of file interpolators.hpp.


Member Data Documentation

template<typename Group>
Group Sophus::Interpolator< Group >::T_a [private]

Definition at line 65 of file interpolators.hpp.

template<typename Group>
Group::Tangent Sophus::Interpolator< Group >::tangent [private]

Definition at line 66 of file interpolators.hpp.


The documentation for this class was generated from the following file:


ecl_linear_algebra
Author(s): Daniel Stonier
autogenerated on Thu Jun 6 2019 21:17:38