navlie.utils.common.state_interp

navlie.utils.common.state_interp(query_stamps: float | List[float] | Any, state_list: List[State], method='linear') → State | List[State]

Performs “linear” (geodesic) interpolation between State objects. Multiple interpolations can be performed at once in a vectorized fashion. If the query point is out of bounds, the end points are returned.

..code-block:: python

x_data = [SE3State.random(stamp=i) for i in range(10)] x_query = [0.2, 0.5, 10] x_interp = state_interp(x_query, x_data)

Parameters:

• query_stamps (float or object with .stamp attribute (or Lists thereof)) – Query stamps. Can either be a float, or an object containing a stamp attribute. If a list is provided, it will be treated as multiple query points and the return value will be a list of State objects.

• state_list (List[State]) – List of State objects to interpolate between.

Returns:

The interpolated state(s).

Return type:

State or List[State]

Raises:

TypeError – If query point is not a float or object with a stamp attribute.

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