Sophus::Interpolator< Group > Class Template Reference

Interpolate between two lie group objects. More...

#include <interpolators.hpp>

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

Interpolator()

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

operator()()

template<typename Group>

Group Sophus::Interpolator< Group >::operator() ( const double &  t )

inline

Definition at line 61 of file interpolators.hpp.

Member Data Documentation

T_a

template<typename Group>

Group Sophus::Interpolator< Group >::T_a

private

Definition at line 65 of file interpolators.hpp.

tangent

template<typename Group>

Group::Tangent Sophus::Interpolator< Group >::tangent

private

Definition at line 66 of file interpolators.hpp.

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

• interpolators.hpp