Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Cubic BSpline dx #198

Merged
merged 1 commit into from
Dec 12, 2023
Merged

Cubic BSpline dx #198

merged 1 commit into from
Dec 12, 2023

Conversation

strasdat
Copy link
Member

@strasdat strasdat commented Dec 12, 2023 •
edited
Loading

  • added Cartesian version of the Cubic BSspline (as oppose to the more general LieGroup version), since it is easier to reason about it etc. (Also first studying the Cartesian version might help understanding the Lie Group one...)
  • added analytic Jacobians wrt to the control points for the Cartesian Cubic BSspline
  • added test coverage
    • for the correctness of the Jacobian
    • that the Cartesian version of the spline and the Lie Group on behave identical (if LieGroup = Translation<...>)
  • refactoring
    • move interp in its own dedicated directory
    • split the massive spline.h file into multiple more consumable chunks
    • more precise naming, e.g. CubicBSpline instead of BasisSpline ...

strasdat
strasdat commented Dec 12, 2023
View reviewed changes
cpp/sophus/interp/spline/group_bspline.h
@@ -0,0 +1,355 @@
// Copyright (c) 2011, Hauke Strasdat
Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Moved and light refactored (more precise names) from https://github.com/farm-ng/farm-ng-core/blob/038a0c3f6ed6be19b95fa6cc2e3e0153b474c31d/cpp/sophus/lie/interp/spline.h

strasdat
strasdat commented Dec 12, 2023
View reviewed changes
cpp/sophus/interp/spline/details/group_bspline_segment.h
@@ -0,0 +1,286 @@
// Copyright (c) 2011, Hauke Strasdat
Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Moved and light refactored (more precise names) from https://github.com/farm-ng/farm-ng-core/blob/038a0c3f6ed6be19b95fa6cc2e3e0153b474c31d/cpp/sophus/lie/interp/spline.h

strasdat
strasdat commented Dec 12, 2023
View reviewed changes
cpp/sophus/interp/spline/details/cubic_basis.h
@@ -0,0 +1,65 @@
// Copyright (c) 2011, Hauke Strasdat
Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Moved and light refactored (more precise names) from https://github.com/farm-ng/farm-ng-core/blob/038a0c3f6ed6be19b95fa6cc2e3e0153b474c31d/cpp/sophus/lie/interp/spline.h

@strasdat strasdat changed the title Spline dx exp Cubic BSpline dx Dec 12, 2023
@strasdat strasdat merged commit 2f3e4c9 into main Dec 12, 2023
11 checks passed
@strasdat strasdat deleted the spline-dx-exp branch December 12, 2023 22:32
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
1 participant
@strasdat