Template Class BasisSpline

• Defined in File spline.hpp

Class Documentation

template<class LieGroup_>
class BasisSpline

Public Types

using LieGroup = LieGroup_

using Scalar = typename LieGroup::Scalar

using Transformation = typename LieGroup::Transformation

using Tangent = typename LieGroup::Tangent

Public Functions

inline BasisSpline(std::vector<LieGroup> parent_Ts_control_point, double t0, double delta_t)

inline LieGroup parent_T_spline(double t) const

inline Transformation Dt_parent_T_spline(double t) const

inline Transformation Dt2_parent_T_spline(double t) const

inline double t0() const

inline double tmax() const

inline const std::vector<LieGroup> &parent_Ts_control_point() const

inline std::vector<LieGroup> &parent_Ts_control_point()

inline int getNumSegments() const

inline double s(double t) const

inline double delta_t() const

inline IndexAndU index_and_u(double t) const