From 5ad287ee626e2b5f8a1d429f46b211599136e7bb Mon Sep 17 00:00:00 2001
From: Brett Downing <brett@hacodyne.com>
Date: Thu, 27 Feb 2025 20:58:30 +1100
Subject: [PATCH] exposes templated Expression wrappers for interpolate

---
 gtsam/slam/expressions.h | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index f2967a88b..5a65810aa 100644
--- 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