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Guilhem Saurel
ndcurves
Commits
14adc7ff
Commit
14adc7ff
authored
Jan 23, 2020
by
Pierre Fernbach
Browse files
[C++] add API to retrieve translation and rotation curve from a SE3
parent
e1a69f73
Changes
1
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include/curves/se3_curve.h
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14adc7ff
...
...
@@ -215,6 +215,10 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
/// \brief Get the degree of the curve.
/// \return \f$degree\f$, the degree of the curve.
virtual
std
::
size_t
degree
()
const
{
return
translation_curve_
->
degree
();
}
/// \brief const accessor to the translation curve
const
curve_ptr_t
translation_curve
(){
return
translation_curve_
;}
/// \brief const accessor to the rotation curve
const
curve_rotation_ptr_t
rotation_curve
(){
return
rotation_curve_
;}
/*Helpers*/
/*Attributes*/
...
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