template class sophus::BasisSplineFnΒΆ

#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
        );
};