Template Function Sophus::interpolate

Function Documentation

template<class G, class Scalar2 = typename G::Scalar>
enable_if_t<interp_details::Traits<G>::supported, G> Sophus::interpolate(G const &foo_T_bar, G const &foo_T_baz, Scalar2 p = Scalar2(0.5f))

This function interpolates between two Lie group elements foo_T_bar and foo_T_baz with an interpolation factor of alpha in [0, 1].

It returns a pose foo_T_quiz with quiz being a frame between bar and baz. If alpha=0 it returns foo_T_bar. If it is 1, it returns foo_T_baz.

(Since interpolation on Lie groups is inverse-invariant, we can equivalently think of the input arguments as being bar_T_foo, baz_T_foo and the return value being quiz_T_foo.)

Precondition: p must be in [0, 1].