Chebyshev.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/base/Manifold.h>
#include <gtsam/basis/Basis.h>

namespace gtsam {

struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
  using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;

  Parameters parameters_;

  static Weights CalculateWeights(size_t N, double x, double a = -1,
                                  double b = 1);

  static Weights DerivativeWeights(size_t N, double x, double a = -1,
                                   double b = 1);
};  // Chebyshev1Basis

struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
  using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;

  static Weights CalculateWeights(size_t N, double x, double a = -1,
                                  double b = 1);

  static Weights DerivativeWeights(size_t N, double x, double a = -1,
                                   double b = 1);
};  // Chebyshev2Basis

}  // namespace gtsam