frc::CubicHermiteSpline Class Reference

Represents a hermite spline of degree 3. More...

#include <frc/spline/CubicHermiteSpline.h>

Inheritance diagram for frc::CubicHermiteSpline:

Public Member Functions
	CubicHermiteSpline (wpi::array< double, 2 > xInitialControlVector, wpi::array< double, 2 > xFinalControlVector, wpi::array< double, 2 > yInitialControlVector, wpi::array< double, 2 > yFinalControlVector)
	Constructs a cubic hermite spline with the specified control vectors.
Matrixd< 6, 3+1 >	Coefficients () const override
	Returns the coefficients matrix.
const ControlVector &	GetInitialControlVector () const override
	Returns the initial control vector that created this spline.
const ControlVector &	GetFinalControlVector () const override
	Returns the final control vector that created this spline.
Public Member Functions inherited from frc::Spline< 3 >
constexpr	Spline ()=default
constexpr	Spline (const Spline &)=default
constexpr	Spline (Spline &&)=default
constexpr Spline &	operator= (const 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.

Additional Inherited Members
Public Types inherited from frc::Spline< 3 >
using	PoseWithCurvature
Static Protected Member Functions inherited from frc::Spline< 3 >
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

Represents a hermite spline of degree 3.

Constructor & Destructor Documentation

CubicHermiteSpline()

frc::CubicHermiteSpline::CubicHermiteSpline ( wpi::array< double, 2 > xInitialControlVector, wpi::array< double, 2 > xFinalControlVector, wpi::array< double, 2 > yInitialControlVector, wpi::array< double, 2 > yFinalControlVector )

inline

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.

Member Function Documentation

Coefficients()

Matrixd< 6, 3+1 > frc::CubicHermiteSpline::Coefficients ( ) const

inlineoverridevirtual

Returns the coefficients matrix.

Returns

The coefficients matrix.

Implements frc::Spline< 3 >.

GetFinalControlVector()

const ControlVector & frc::CubicHermiteSpline::GetFinalControlVector ( ) const

inlineoverridevirtual

Returns the final control vector that created this spline.

Returns

The final control vector that created this spline.

Implements frc::Spline< 3 >.

GetInitialControlVector()

const ControlVector & frc::CubicHermiteSpline::GetInitialControlVector ( ) const

inlineoverridevirtual

Returns the initial control vector that created this spline.

Returns

The initial control vector that created this spline.

Implements frc::Spline< 3 >.

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

• frc/spline/CubicHermiteSpline.h