template class sophus::BasisSplineImplΒΆ

#include <spline.h>

template <class TLieGroup>
class BasisSplineImpl {
public:
    // typedefs

    using LieGroup = TLieGroup ;
    using Scalar = typename LieGroup::Scalar ;
    using Transformation = typename LieGroup::Transformation ;
    using Tangent = typename LieGroup::Tangent ;

    // construction

    BasisSplineImpl(
        std::vector<LieGroup> const& parent_ts_control_point,
        double delta_t
        );

    // methods

    LieGroup parentFromSpline(
        int i,
        double u
        ) const;

    Transformation dtParentFromSpline(
        int i,
        double u
        ) const;

    Transformation dt2ParentFromSpline(
        int i,
        double u
        ) const;

    std::vector<LieGroup> const& parentFromsControlPoint() const;
    std::vector<LieGroup>& parentFromsControlPoint();
    int getNumSegments() const;
    double deltaT() const;
};