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. More...
Matrixd< 6, 3+1 >	Coefficients () const override
	Returns the coefficients matrix. More...
const ControlVector &	GetInitialControlVector () const override
	Returns the initial control vector that created this spline. More...
const ControlVector &	GetFinalControlVector () const override
	Returns the final control vector that created this spline. More...
Public Member Functions inherited from frc::Spline< 3 >
	Spline ()=default
	Spline (const Spline &)=default
	Spline (Spline &&)=default
Spline &	operator= (const Spline &)=default
Spline &	operator= (Spline &&)=default
virtual	~Spline ()=default
PoseWithCurvature	GetPoint (double t) const
	Gets the pose and curvature at some point t on the spline. More...
virtual Matrixd< 6, Degree+1 >	Coefficients () const=0
	Returns the coefficients of the spline. More...
virtual const ControlVector &	GetInitialControlVector () const=0
	Returns the initial control vector that created this spline. More...
virtual const ControlVector &	GetFinalControlVector () const=0
	Returns the final control vector that created this spline. More...

Additional Inherited Members
Public Types inherited from frc::Spline< 3 >
using	PoseWithCurvature = std::pair< Pose2d, units::curvature_t >
Static Protected Member Functions inherited from frc::Spline< 3 >
static Eigen::Vector2d	ToVector (const Translation2d &translation)
	Converts a Translation2d into a vector that is compatible with Eigen. More...
static Translation2d	FromVector (const Eigen::Vector2d &vector)
	Converts an Eigen vector into a Translation2d. More...

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
	)

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