frc::Spline< Degree > Class Template Reference

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

#include <frc/spline/Spline.h>

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

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

Public Member Functions
	Spline ()=default
	Spline (const Spline &)=default
Spline &	operator= (const Spline &)=default
	Spline (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...

Static Protected Member Functions
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

template<int Degree>
class frc::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 frc::Spline< Degree >::PoseWithCurvature = std::pair<Pose2d, units::curvature_t>

Constructor & Destructor Documentation

Spline() [1/3]

template<int Degree>

frc::Spline< Degree >::Spline ( )

default

Spline() [2/3]

template<int Degree>

frc::Spline< Degree >::Spline ( const Spline< Degree > &  )

default

Spline() [3/3]

template<int Degree>

frc::Spline< Degree >::Spline ( Spline< Degree > &&  )

default

~Spline()

template<int Degree>

virtual frc::Spline< Degree >::~Spline ( )

virtualdefault

Member Function Documentation

Coefficients()

template<int Degree>

virtual Matrixd< 6, Degree+1 > frc::Spline< Degree >::Coefficients ( ) const

pure virtual

Returns the coefficients of the spline.

Returns

The coefficients of the spline.

Implemented in frc::CubicHermiteSpline, and frc::QuinticHermiteSpline.

FromVector()

template<int Degree>

static Translation2d frc::Spline< Degree >::FromVector ( const Eigen::Vector2d &  vector )

inlinestaticprotected

Converts an Eigen vector into a Translation2d.

Parameters

vector

The vector to convert.

Returns

The Translation2d.

GetFinalControlVector()

template<int Degree>

virtual const ControlVector & frc::Spline< Degree >::GetFinalControlVector ( ) const

pure virtual

Returns the final control vector that created this spline.

Returns

The final control vector that created this spline.

Implemented in frc::CubicHermiteSpline, and frc::QuinticHermiteSpline.

GetInitialControlVector()

template<int Degree>

virtual const ControlVector & frc::Spline< Degree >::GetInitialControlVector ( ) const

pure virtual

Returns the initial control vector that created this spline.

Returns

The initial control vector that created this spline.

Implemented in frc::CubicHermiteSpline, and frc::QuinticHermiteSpline.

GetPoint()

template<int Degree>

PoseWithCurvature frc::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 & frc::Spline< Degree >::operator= ( const Spline< Degree > &  )

default

operator=() [2/2]

template<int Degree>

Spline & frc::Spline< Degree >::operator= ( Spline< Degree > &&  )

default

ToVector()

template<int Degree>

static Eigen::Vector2d frc::Spline< Degree >::ToVector ( const Translation2d &  translation )

inlinestaticprotected

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:

• frc/spline/Spline.h