39 lines
1.3 KiB
C++
39 lines
1.3 KiB
C++
/// @file
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/// Interpolation for Lie groups.
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#ifndef SOPHUS_INTERPOLATE_HPP
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#define SOPHUS_INTERPOLATE_HPP
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#include <Eigen/Eigenvalues>
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#include "interpolate_details.hpp"
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namespace Sophus {
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/// This function interpolates between two Lie group elements ``foo_T_bar``
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/// and ``foo_T_baz`` with an interpolation factor of ``alpha`` in [0, 1].
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///
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/// It returns a pose ``foo_T_quiz`` with ``quiz`` being a frame between ``bar``
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/// and ``baz``. If ``alpha=0`` it returns ``foo_T_bar``. If it is 1, it returns
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/// ``foo_T_bar``.
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///
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/// (Since interpolation on Lie groups is inverse-invariant, we can equivalently
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/// think of the input arguments as being ``bar_T_foo``, ``baz_T_foo`` and the
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/// return value being ``quiz_T_foo``.)
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///
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/// Precondition: ``p`` must be in [0, 1].
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///
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template <class G, class Scalar2 = typename G::Scalar>
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enable_if_t<interp_details::Traits<G>::supported, G> interpolate(
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G const& foo_T_bar, G const& foo_T_baz, Scalar2 p = Scalar2(0.5f)) {
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using Scalar = typename G::Scalar;
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Scalar inter_p(p);
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SOPHUS_ENSURE(inter_p >= Scalar(0) && inter_p <= Scalar(1),
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"p (%) must in [0, 1].");
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return foo_T_bar * G::exp(inter_p * (foo_T_bar.inverse() * foo_T_baz).log());
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}
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} // namespace Sophus
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#endif // SOPHUS_INTERPOLATE_HPP
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