gsplines_cpp

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Introduce a class which represent a set of GSplines

2

# Motivation We are working with two different sets of GSpline - Set 1: (Is a Manifold) The set of GSplines that passes through a series of waypoints. Is defined...

rafaelrojasmiliani

Reimplement opeations in GLLSplines

1

The actual implementation of functionals in the GLL splace [here](https://github.com/rafaelrojasmiliani/gsplines_cpp/blob/a736d550df1cf5eda6e4b4354f63d7c4eb0c8bc2/include/gsplines/Collocation/GaussLobattoLagrangeFunctionals.hpp#L1) have the following drawbacks: - They have to be constructed with many parameters - domain - number of intervals -...

rafaelrojasmiliani

Implement specific class for Gauss-Lobatto Lagrange polynomial

1

- [x] with sum operations with other GaussLobatoLagrange GSpline. - This require to test 1. If the basis are the same 2. If they have both the same number of...

rafaelrojasmiliani

```C++ template * = nullptr> T operator*(double _a, const T &_that); template * = nullptr> T operator*(double _a, T &&_that); ```

rafaelrojasmiliani

Function that returns GL spline evaluated ad GL points

3

rafaelrojasmiliani

By defaults pybind handle just unique ptr [see here](https://stackoverflow.com/questions/54827899/pybind-invoke-function-with-shared-pointer-to-derived-class). We need to expose to python functions that returns shared pointers. see [here](https://pybind11.readthedocs.io/en/stable/advanced/smart_ptrs.html)

rafaelrojasmiliani

rafaelrojasmiliani

Introduce Manifold gspline support

3

# Motivation Many times we desire to compute a motion in an arbitrary manifold. For example, a motion in SO(3), a motion in SE(3), in a sphere or a plane....

rafaelrojasmiliani

# Motivation, Approximation with GSplines Let be an interval, be a function and let be the set of piecewise polynomials of degree with pieces. **Theorem** For every there exists an...

rafaelrojasmiliani

Make Basis singleton

2

## Motivation The `Basis` represent an abstract mathematical object that is unique, in the sense that it only provide the evaluations of objects that do not change. In the same...

rafaelrojasmiliani