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exposes templated Expression wrappers for interpolate

release/4.3a0
Brett Downing 2025-02-27 20:58:30 +11:00
parent a5a89686c6
commit 5ad287ee62
1 changed files with 10 additions and 0 deletions
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10
gtsam/slam/expressions.h
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@ -199,4 +199,14 @@ gtsam::Expression<typename gtsam::traits<T>::TangentVector> logmap(
gtsam::traits<T>::Logmap, between(x1, x2)); 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 } // \namespace gtsam