8 #ifndef yocs_math_toolkit_SOPHUS_INTERPOLATERS_HPP_ 9 #define yocs_math_toolkit_SOPHUS_INTERPOLATERS_HPP_ 19 #include <sophus/se3.hpp> 20 #include <sophus/se2.hpp> 21 #include <sophus/so2.hpp> 22 #include <sophus/so3.hpp> 52 template <
typename Group>
58 Group T_b_rel_a = T_b*T_a.inverse();
59 tangent = Group::log(T_b_rel_a);
Interpolator< Sophus::SE3f > interpolator
Mathematical tools for linear algebra.
Interpolate between two lie group objects.
Interpolator(const Group &T_a, const Group &T_b)
Group operator()(const double &t)
Sophus::SE3f::Tangent tangent
Sophus::SE2f::Tangent tangent