wpi::math::Spline< Degree > Class Template Reference

Represents a two-dimensional parametric spline that interpolates between two points. More...

#include <wpi/math/spline/Spline.hpp>

Classes
struct	ControlVector
	Represents a control vector for a spline. More...

Public Types
using	PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>

Public Member Functions
constexpr	Spline ()=default
constexpr	Spline (const Spline &)=default
constexpr Spline &	operator= (const Spline &)=default
constexpr	Spline (Spline &&)=default
constexpr Spline &	operator= (Spline &&)=default
virtual constexpr	~Spline ()=default
std::optional< PoseWithCurvature >	GetPoint (double t) const
	Gets the pose and curvature at some point t on the spline.
virtual constexpr Matrixd< 6, Degree+1 >	Coefficients () const =0
	Returns the coefficients of the spline.
virtual constexpr const ControlVector &	GetInitialControlVector () const =0
	Returns the initial control vector that created this spline.
virtual constexpr const ControlVector &	GetFinalControlVector () const =0
	Returns the final control vector that created this spline.

Static Protected Member Functions
static constexpr Eigen::Vector2d	ToVector (const Translation2d &translation)
	Converts a Translation2d into a vector that is compatible with Eigen.
static constexpr Translation2d	FromVector (const Eigen::Vector2d &vector)
	Converts an Eigen vector into a Translation2d.

Detailed Description

template<int Degree>
class wpi::math::Spline< Degree >

Represents a two-dimensional parametric spline that interpolates between two points.

Template Parameters

Degree

The degree of the spline.

Member Typedef Documentation

PoseWithCurvature

template<int Degree>

using wpi::math::Spline< Degree >::PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>

Constructor & Destructor Documentation

Spline() [1/3]

template<int Degree>

wpi::math::Spline< Degree >::Spline ( )

constexprdefault

Spline() [2/3]

template<int Degree>

wpi::math::Spline< Degree >::Spline ( const Spline< Degree > & )

constexprdefault

Spline() [3/3]

template<int Degree>

wpi::math::Spline< Degree >::Spline ( Spline< Degree > && )

constexprdefault

~Spline()

template<int Degree>

virtual constexpr wpi::math::Spline< Degree >::~Spline ( )

constexprvirtualdefault

Member Function Documentation

Coefficients()

template<int Degree>

virtual constexpr Matrixd< 6, Degree+1 > wpi::math::Spline< Degree >::Coefficients ( ) const

constexprpure virtual

Returns the coefficients of the spline.

Returns

The coefficients of the spline.

Implemented in wpi::math::CubicHermiteSpline, and wpi::math::QuinticHermiteSpline.

FromVector()

template<int Degree>

constexpr Translation2d wpi::math::Spline< Degree >::FromVector ( const Eigen::Vector2d & vector )

inlinestaticconstexprprotected

Converts an Eigen vector into a Translation2d.

Parameters

vector

The vector to convert.

Returns

The Translation2d.

GetFinalControlVector()

template<int Degree>

virtual constexpr const ControlVector & wpi::math::Spline< Degree >::GetFinalControlVector ( ) const

constexprpure virtual

Returns the final control vector that created this spline.

Returns

The final control vector that created this spline.

Implemented in wpi::math::CubicHermiteSpline, and wpi::math::QuinticHermiteSpline.

GetInitialControlVector()

template<int Degree>

virtual constexpr const ControlVector & wpi::math::Spline< Degree >::GetInitialControlVector ( ) const

constexprpure virtual

Returns the initial control vector that created this spline.

Returns

The initial control vector that created this spline.

Implemented in wpi::math::CubicHermiteSpline, and wpi::math::QuinticHermiteSpline.

GetPoint()

template<int Degree>

std::optional< PoseWithCurvature > wpi::math::Spline< Degree >::GetPoint ( double t ) const

inline

Gets the pose and curvature at some point t on the spline.

Parameters

t	The point t

Returns

The pose and curvature at that point.

operator=() [1/2]

template<int Degree>

Spline & wpi::math::Spline< Degree >::operator= ( const Spline< Degree > & )

constexprdefault

operator=() [2/2]

template<int Degree>

Spline & wpi::math::Spline< Degree >::operator= ( Spline< Degree > && )

constexprdefault

ToVector()

template<int Degree>

constexpr Eigen::Vector2d wpi::math::Spline< Degree >::ToVector ( const Translation2d & translation )

inlinestaticconstexprprotected

Converts a Translation2d into a vector that is compatible with Eigen.

Parameters

translation

The Translation2d to convert.

Returns

The vector.

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The documentation for this class was generated from the following file:

• wpi/math/spline/Spline.hpp