frc::SplineParameterizer Class Reference

Class used to parameterize a spline by its arc length. More...

#include <frc/spline/SplineParameterizer.h>

Classes
struct	MalformedSplineException

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

Static Public Member Functions
template<int Dim>
static std::vector< PoseWithCurvature >	Parameterize (const Spline< Dim > &spline, double t0=0.0, double t1=1.0)
	Parametrizes the spline. More...

Friends
class	CubicHermiteSplineTest
class	QuinticHermiteSplineTest

Detailed Description

Class used to parameterize a spline by its arc length.

Member Typedef Documentation

PoseWithCurvature

using frc::SplineParameterizer::PoseWithCurvature = std::pair<Pose2d, units::curvature_t>

Member Function Documentation

Parameterize()

template<int Dim>

static std::vector< PoseWithCurvature > frc::SplineParameterizer::Parameterize ( const Spline< Dim > &  spline, double  t0 = 0.0, double  t1 = 1.0  )

inlinestatic

Parametrizes the spline.

This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.

Parameters

spline	The spline to parameterize.
t0	Starting internal spline parameter. It is recommended to leave this as default.
t1	Ending internal spline parameter. It is recommended to leave this as default.

Returns

A vector of poses and curvatures that represents various points on the spline.

Friends And Related Function Documentation

CubicHermiteSplineTest

friend class CubicHermiteSplineTest

friend

QuinticHermiteSplineTest

friend class QuinticHermiteSplineTest

friend

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

• frc/spline/SplineParameterizer.h