0.4.1
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QuadraticBsplines.hpp
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1// This file is part of INSTINCT, the INS Toolkit for Integrated
2// Navigation Concepts and Training by the Institute of Navigation of
3// the University of Stuttgart, Germany.
4//
5// This Source Code Form is subject to the terms of the Mozilla Public
6// License, v. 2.0. If a copy of the MPL was not distributed with this
7// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9/// @file QuadraticBsplines.hpp
10/// @brief Constructs four overlapping qaudratic B-splines
11/// @author M. Maier (marcel.maier@ins.uni-stuttgart.de)
12/// @date 2024-03-28
13
14#pragma once
15
16#include "util/Eigen.hpp"
17
18#include <array>
19
20namespace NAV::BsplineKF
21{
22/// @brief Set the points/knots of the four B-splines
23/// @param[in] ti time i to evaluate the spline at in [s]
24/// @param[in] splineSpacing time difference between one and another B-spline in [s]
25/// @return Vector that contains the values of each quadratic B-spline at time ti, from the stacked B-spline
26std::array<double, 3> quadraticBsplines(const double& ti, const double& splineSpacing = 1.0);
27} // namespace NAV::BsplineKF
Vector space operations.
std::array< double, 3 > quadraticBsplines(const double &ti, const double &splineSpacing=1.0)
Set the points/knots of the four B-splines.