sophus::spline

Struct CubicBasisFunction

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pub struct CubicBasisFunction<S, const DM: usize, const DN: usize> { /* private fields */ }
Expand description

cubic basis function

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impl<S, const DM: usize, const DN: usize> CubicBasisFunction<S, DM, DN>
where S: IsSingleScalar<DM, DN>,

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pub fn c() -> <S as IsSingleScalar<DM, DN>>::SingleMatrix<3, 4>

C matrix

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pub fn b(u: S) -> <S as IsSingleScalar<DM, DN>>::SingleVector<3>

B(u) matrix

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pub fn du_b(u: S, delta_t: S) -> <S as IsSingleScalar<DM, DN>>::SingleVector<3>

derivative of B(u) matrix with respect to u

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pub fn du2_b(u: S, delta_t: S) -> <S as IsSingleScalar<DM, DN>>::SingleVector<3>

second derivative of B(u) matrix with respect to u

Auto Trait Implementations§

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impl<S, const DM: usize, const DN: usize> Freeze for CubicBasisFunction<S, DM, DN>

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impl<S, const DM: usize, const DN: usize> RefUnwindSafe for CubicBasisFunction<S, DM, DN>
where S: RefUnwindSafe,

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impl<S, const DM: usize, const DN: usize> Send for CubicBasisFunction<S, DM, DN>
where S: Send,

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impl<S, const DM: usize, const DN: usize> Sync for CubicBasisFunction<S, DM, DN>
where S: Sync,

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impl<S, const DM: usize, const DN: usize> Unpin for CubicBasisFunction<S, DM, DN>
where S: Unpin,

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impl<S, const DM: usize, const DN: usize> UnwindSafe for CubicBasisFunction<S, DM, DN>
where S: UnwindSafe,

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