Template Function manif::decasteljau

Function Documentation

template<typename LieGroup>
std::vector<typename LieGroup::LieGroup> manif::decasteljau(const std::vector<LieGroup> &trajectory, const unsigned int degree, const unsigned int k_interp, const bool closed_curve = false)

Curve fitting using the DeCasteljau algorithm on Lie groups.

https://www.wikiwand.com/en/De_Casteljau%27s_algorithm

Note

A naive implementation of the DeCasteljau algorithm on Lie groups.

Parameters:

  • trajectory, a – discretized trajectory.

  • degree, the – degree of smoothness of the fitted curve.

  • k_interp, the – number of points to interpolate between two consecutive points of the trajectory. interpolate k_interp for t in ]0,1].

  • closed_curve – Whether the input trajectory is closed or not. If true, the first and the last points of the input trajectory are used to interpolate points inbetween. Default false.

Returns:

The interpolated smooth trajectory