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 |
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:
Definition at line 53 of file interpolators.hpp.
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inline |
Definition at line 55 of file interpolators.hpp.
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inline |
Definition at line 61 of file interpolators.hpp.
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private |
Definition at line 65 of file interpolators.hpp.
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private |
Definition at line 66 of file interpolators.hpp.