Chebyshev.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/base/Manifold.h>
#include <gtsam/basis/Basis.h>
 
namespace gtsam {
 
struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
  using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
  Parameters parameters_;
 
  static Weights CalculateWeights(size_t N, double x, double a = -1,
                                  double b = 1);
 
  static Weights DerivativeWeights(size_t N, double x, double a = -1,
                                   double b = 1);
};  // Chebyshev1Basis
 
struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
  using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
  static Weights CalculateWeights(size_t N, double x, double a = -1,
                                  double b = 1);
 
  static Weights DerivativeWeights(size_t N, double x, double a = -1,
                                   double b = 1);
};  // Chebyshev2Basis
 
}  // namespace gtsam