Template Function manif::interpolate_smooth

• Defined in File interpolation.h

Function Documentation

template<typename _Derived, typename _Scalar>
static LieGroupBase<_Derived>::LieGroup manif::interpolate_smooth(const LieGroupBase<_Derived> &ma, const LieGroupBase<_Derived> &mb, const _Scalar t, const unsigned int m, const typename LieGroupBase<_Derived>::Tangent &ta = LieGroupBase<_Derived>::Tangent::Zero(), const typename LieGroupBase<_Derived>::Tangent &tb = LieGroupBase<_Derived>::Tangent::Zero())

Smooth interpolation. @detail Interpolate a point mc between ma and mb at t in [0,1]. mc=ma if t=0 mc=mb if t=1.

Note

“A two-step algorithm of smooth spline

generation on Riemannian manifolds”, Janusz Jakubiak and Fátima Silva Leite and Rui C. Rodrigues.

Parameters:

• ma – [in] Initial point.

• mb – [in] Final Point.

• t – [in] Time at which to interpolate in [0,1].

• -optional- – [in] ta.

• -optional- – [in] tb.

• -optional- – [out] J_mc_ma Jacobian of the interpolated point wrt ma.

• -optional- – [out] J_mc_mb Jacobian of the interpolated point wrt mb.