Template Class Interpolator
Defined in File interpolators.hpp
Class Documentation
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template<typename Group>
class Interpolator 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);