exposes templated Expression wrappers for interpolate

2025-02-27 20:58:30 +11:00 · 2025-02-27 20:58:30 +11:00 · 5ad287ee62
parent a5a89686c6
commit 5ad287ee62
1 changed files with 10 additions and 0 deletions
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@ -199,4 +199,14 @@ gtsam::Expression<typename gtsam::traits<T>::TangentVector> logmap(
      gtsam::traits<T>::Logmap, between(x1, x2));
 }

+template <typename T>
+inline Expression<T> interpolate(const Expression<T>& p, const Expression<T>& q,
+                                 const Expression<double>& t){
+  T (*f)(const T&, const T&, double,
+         typename MakeOptionalJacobian<T, T>::type,
+         typename MakeOptionalJacobian<T, T>::type,
+         typename MakeOptionalJacobian<T, double>::type) = &interpolate;
+  return Expression<T>(f, p, q, t);
+}
+
 }  // \namespace gtsam