template class sophus::BasisSplineΒΆ

#include <spline.h>

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

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

    // construction

    BasisSpline(
        std::vector<LieGroup> parent_ts_control_point,
        double t0,
        double delta_t
        );

    // methods

    LieGroup parentFromSpline(double t) const;
    Transformation dtParentFromSpline(double t) const;
    Transformation dt2ParentFromSpline(double t) const;
    double t0() const;
    double tmax() const;
    std::vector<LieGroup> const& parentFromsControlPoint() const;
    std::vector<LieGroup>& parentFromsControlPoint();
    int getNumSegments() const;
    double s(double t) const;
    double deltaT() const;
    IndexAndU indexAndU(double t) const;
};