Public Member Functions | Private Attributes | List of all members
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

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 Mon Jun 10 2019 13:08:26