template class sophus::BasisSplineFn
#include <spline.h>
template <class TLieGroup>
class BasisSplineFn {
public:
// typedefs
using LieGroup = TLieGroup ;
using TScalar = typename LieGroup::Scalar ;
using Transformation = typename LieGroup::Transformation ;
using Tangent = typename LieGroup::Tangent ;
// methods
static LieGroup parentFromSpline(
LieGroup const& parent_ts_control_point,
std::tuple<Tangent, Tangent, Tangent> const& control_tagent_vectors,
double u
);
static Transformation dtParentFromSpline(
LieGroup const& parent_ts_control_point,
std::tuple<Tangent, Tangent, Tangent> const& control_tagent_vectors,
double u,
double delta_t
);
static Transformation dt2ParentFromSpline(
LieGroup const& parent_ts_control_point,
std::tuple<Tangent, Tangent, Tangent> const& control_tagent_vectors,
double u,
double delta_t
);
};