Template Class BasisSplineImpl

• Defined in File spline.hpp

Class Documentation

template<class LieGroup_>
class BasisSplineImpl

Public Types

using LieGroup = LieGroup_

using Scalar = typename LieGroup::Scalar

using Transformation = typename LieGroup::Transformation

using Tangent = typename LieGroup::Tangent

Public Functions

inline BasisSplineImpl(const std::vector<LieGroup> &parent_Ts_control_point, double delta_t)

inline LieGroup parent_T_spline(int i, double u) const

inline Transformation Dt_parent_T_spline(int i, double u) const

inline Transformation Dt2_parent_T_spline(int i, double u) 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 delta_t() const