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adds Expression wrapper for Pose3::InterpolateRt

release/4.3a0
Brett Downing 2025-02-27 16:28:17 +11:00
parent 82bc6d8931
commit a5a89686c6
1 changed files with 4 additions and 0 deletions
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4
gtsam/slam/expressions.h
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@ -58,6 +58,10 @@ inline Pose3_ transformPoseTo(const Pose3_& p, const Pose3_& q) {
return Pose3_(p, &Pose3::transformPoseTo, q); return Pose3_(p, &Pose3::transformPoseTo, q);
} }
inline Pose3_ interpolateRt(const Pose3_& p, const Pose3_& q, const Double_& t) {
return Pose3_(&Pose3::interpolateRt, p, q, t);
}
inline Point3_ normalize(const Point3_& a){ inline Point3_ normalize(const Point3_& a){
Point3 (*f)(const Point3 &, OptionalJacobian<3, 3>) = &normalize; Point3 (*f)(const Point3 &, OptionalJacobian<3, 3>) = &normalize;
return Point3_(f, a); return Point3_(f, a);