Package edu.wpi.first.math.spline
Class CubicHermiteSpline
java.lang.Object
edu.wpi.first.math.spline.Spline
edu.wpi.first.math.spline.CubicHermiteSpline
Represents a hermite spline of degree 3.
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Nested Class Summary
Nested classes/interfaces inherited from class edu.wpi.first.math.spline.Spline
Spline.ControlVector
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Constructor Summary
ConstructorsConstructorDescriptionCubicHermiteSpline
(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector) Constructs a cubic hermite spline with the specified control vectors. -
Method Summary
Modifier and TypeMethodDescriptionorg.ejml.simple.SimpleMatrix
Returns the coefficients matrix.Returns the final control vector that created this spline.Returns the initial control vector that created this spline.
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Constructor Details
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CubicHermiteSpline
public CubicHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector) Constructs a cubic hermite spline with the specified control vectors. Each control vector contains info about the location of the point and its first derivative.- Parameters:
xInitialControlVector
- The control vector for the initial point in the x dimension.xFinalControlVector
- The control vector for the final point in the x dimension.yInitialControlVector
- The control vector for the initial point in the y dimension.yFinalControlVector
- The control vector for the final point in the y dimension.
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Method Details
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getCoefficients
Returns the coefficients matrix.- Specified by:
getCoefficients
in classSpline
- Returns:
- The coefficients matrix.
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getInitialControlVector
Returns the initial control vector that created this spline.- Specified by:
getInitialControlVector
in classSpline
- Returns:
- The initial control vector that created this spline.
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getFinalControlVector
Returns the final control vector that created this spline.- Specified by:
getFinalControlVector
in classSpline
- Returns:
- The final control vector that created this spline.
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