gtsam 4.2.0
gtsam
Chebyshev.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
19#pragma once
20
21#include <gtsam/base/Manifold.h>
22#include <gtsam/basis/Basis.h>
23
24namespace gtsam {
25
32struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
33 using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
34
35 Parameters parameters_;
36
45 static Weights CalculateWeights(size_t N, double x, double a = -1,
46 double b = 1);
47
66 static Weights DerivativeWeights(size_t N, double x, double a = -1,
67 double b = 1);
68}; // Chebyshev1Basis
69
80struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
81 using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
82
91 static Weights CalculateWeights(size_t N, double x, double a = -1,
92 double b = 1);
93
103 static Weights DerivativeWeights(size_t N, double x, double a = -1,
104 double b = 1);
105}; // Chebyshev2Basis
106
107} // namespace gtsam
Base class and basic functions for Manifold types.
Compute an interpolating basis.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
CRTP Base class for function bases.
Definition: Basis.h:100
Basis of Chebyshev polynomials of the first kind https://en.wikipedia.org/wiki/Chebyshev_polynomials#...
Definition: Chebyshev.h:32
Basis of Chebyshev polynomials of the second kind.
Definition: Chebyshev.h:80