template class sophus::BasisSplineImpl
#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;
};