1 #ifndef SOPHUS_INTERPOLATE_HPP 2 #define SOPHUS_INTERPOLATE_HPP 4 #include <Eigen/Eigenvalues> 23 template <
class G,
class Scalar2>
25 G
const& foo_T_bar, G
const& foo_T_baz, Scalar2 p = Scalar2(0.5f)) {
26 using Scalar =
typename G::Scalar;
29 "p (%) must in [0, 1].");
30 return foo_T_bar * G::exp(inter_p * (foo_T_bar.inverse() * foo_T_baz).log());
35 #endif // SOPHUS_INTERPOLATE_HPP #define SOPHUS_ENSURE(expr, description,...)
enable_if_t< interp_details::Traits< G >::supported, G > interpolate(G const &foo_T_bar, G const &foo_T_baz, Scalar2 p=Scalar2(0.5f))
typename std::enable_if< B, T >::type enable_if_t