Detailed Description

Cubic cardinal-spline basis for scalar, vector, and manifold Basis functors.

This class expresses the same rear-padded cubic interpolation used by CumulativeSplineTrajectory as a dense weight vector. It therefore works with EvaluationFactor, VectorEvaluationFactor, and the other reusable factor types in BasisFactors.h when the sample coordinate is fixed.

Inheritance diagram for gtsam::CardinalSplineBasis:

Static Public Member Functions
static Weights	CalculateWeights (size_t N, double x)
	Calculate weights for unit-spaced control points.
static Weights	CalculateWeights (size_t N, double x, double a, double b)
	Calculate weights after mapping [a,b] onto the full spline support.
static Weights	DerivativeWeights (size_t N, double x)
	Calculate first-derivative weights for unit-spaced control points.
static Weights	DerivativeWeights (size_t N, double x, double a, double b)
	Calculate first-derivative weights after mapping [a,b] onto the full spline support.
Static Public Member Functions inherited from gtsam::Basis< CardinalSplineBasis >
static Matrix	WeightMatrix (size_t N, const Vector &X)
	Calculate weights for all x in vector X.

Public Types
using	Parameters = Vector
	Scalar control-point values consumed by the inherited basis functors.

The documentation for this class was generated from the following file:

Static Public Member Functions