template struct sophus::BasisSplineSegment
#include <spline.h>
template <class TLieGroup>
struct BasisSplineSegment {
// typedefs
using T = typename TLieGroup::Scalar ;
using Transformation = typename TLieGroup::Transformation ;
// construction
BasisSplineSegment(
SegmentCase segment_case,
T const*const raw_ptr0,
T const*const raw_ptr1,
T const*const raw_ptr2,
T const*const raw_ptr3
);
// methods
Eigen::Map<TLieGroup const> worldFromFooPrev() const;
Eigen::Map<TLieGroup const> worldFromFoo0() const;
Eigen::Map<TLieGroup const> worldFromFoo1() const;
Eigen::Map<TLieGroup const> worldFromFoo2() const;
TLieGroup parentFromSpline(double u);
Transformation dtParentFromSpline(
double u,
double delta_t
);
Transformation dt2ParentFromSpline(
double u,
double delta_t
);
};