Skip to content

Expose Sophus::interpolate to Python bindings for SO2/3 and SE2/3 #560

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
SidArora29 wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Expose Sophus::interpolate to Python bindings for SO2/3 and SE2/3 #560

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b93eaaf
Expose Sophus::interpolate to Python bindings for SO2/3 and SE2/3
SidArora29 Jun 9, 2026
bfe3453
Style: apply code formatting via pre-commit
SidArora29 Jun 9, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 38 additions & 1 deletion sophus_pybind/bindings.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,40 @@
#include <sophus/interpolate.hpp>
#include "SophusPyBind.h"

PYBIND11_MODULE(sophus_pybind, m) { Sophus::exportSophus(m); }
namespace py = pybind11;

PYBIND11_MODULE(sophus_pybind, m) {
Sophus::exportSophus(m);

m.def(
"interpolate",
[](Sophus::SE3d const& a, Sophus::SE3d const& b, double t) {
return Sophus::interpolate(a, b, t);
},
py::arg("a"), py::arg("b"), py::arg("t"),
"Interpolates between two SE3 poses");

m.def(
"interpolate",
[](Sophus::SO3d const& a, Sophus::SO3d const& b, double t) {
return Sophus::interpolate(a, b, t);
},
py::arg("a"), py::arg("b"), py::arg("t"),
"Interpolates between two SO3 rotations");

m.def(
"interpolate",
[](Sophus::SE2d const& a, Sophus::SE2d const& b, double t) {
return Sophus::interpolate(a, b, t);
},
py::arg("a"), py::arg("b"), py::arg("t"),
"Interpolates between two SE2 poses");

m.def(
"interpolate",
[](Sophus::SO2d const& a, Sophus::SO2d const& b, double t) {
return Sophus::interpolate(a, b, t);
},
py::arg("a"), py::arg("b"), py::arg("t"),
"Interpolates between two SO2 rotations");
}
Loading