template struct sophus::BasisSplineSegmentΒΆ

#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
        );
};