.. _program_listing_file_sophus_interpolate.hpp:

Program Listing for File interpolate.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_sophus_interpolate.hpp>` (``sophus/interpolate.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #pragma once
   
   #include <Eigen/Eigenvalues>
   
   #include "interpolate_details.hpp"
   
   namespace Sophus {
   
   template <class G, class Scalar2 = typename G::Scalar>
   enable_if_t<interp_details::Traits<G>::supported, G> interpolate(
       G const& foo_T_bar, G const& foo_T_baz, Scalar2 p = Scalar2(0.5f)) {
     using Scalar = typename G::Scalar;
     Scalar inter_p(p);
     SOPHUS_ENSURE(inter_p >= Scalar(0) && inter_p <= Scalar(1),
                   "p ({}) must in [0, 1].", SOPHUS_FMT_ARG(inter_p));
     return foo_T_bar * G::exp(inter_p * (foo_T_bar.inverse() * foo_T_baz).log());
   }
   
   }  // namespace Sophus