Package edu.wpi.first.math.spline

Class CubicHermiteSpline

java.lang.Object

edu.wpi.first.math.spline.Spline

edu.wpi.first.math.spline.CubicHermiteSpline

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class CubicHermiteSpline
extends Spline
implements ProtobufSerializable, StructSerializable

Represents a hermite spline of degree 3.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.math.spline.Spline

Spline.ControlVector

Field Summary

Fields

Modifier and Type	Field	Description
static final CubicHermiteSplineProto	proto	CubicHermiteSpline struct for serialization.
static final CubicHermiteSplineStruct	struct	CubicHermiteSpline protobuf for serialization.
final double[]	xFinalControlVector	The control vector for the final point in the x dimension.
final double[]	xInitialControlVector	The control vector for the initial point in the x dimension.
final double[]	yFinalControlVector	The control vector for the final point in the y dimension.
final double[]	yInitialControlVector	The control vector for the initial point in the y dimension.

Constructor Summary

Constructors

Constructor	Description
CubicHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector)	Constructs a cubic hermite spline with the specified control vectors.

Method Summary

Modifier and Type	Method	Description
org.ejml.simple.SimpleMatrix	getCoefficients()	Returns the coefficients matrix.
Spline.ControlVector	getFinalControlVector()	Returns the final control vector that created this spline.
Spline.ControlVector	getInitialControlVector()	Returns the initial control vector that created this spline.

Methods inherited from class edu.wpi.first.math.spline.Spline

getPoint

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

xInitialControlVector

public final double[] xInitialControlVector

The control vector for the initial point in the x dimension. DO NOT MODIFY THIS ARRAY!

xFinalControlVector

public final double[] xFinalControlVector

The control vector for the final point in the x dimension. DO NOT MODIFY THIS ARRAY!

yInitialControlVector

public final double[] yInitialControlVector

The control vector for the initial point in the y dimension. DO NOT MODIFY THIS ARRAY!

yFinalControlVector

public final double[] yFinalControlVector

The control vector for the final point in the y dimension. DO NOT MODIFY THIS ARRAY!

proto

public static final CubicHermiteSplineProto proto

CubicHermiteSpline struct for serialization.

struct

public static final CubicHermiteSplineStruct struct

CubicHermiteSpline protobuf for serialization.

Constructor Details

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.

Method Details

getCoefficients

public org.ejml.simple.SimpleMatrix getCoefficients()

Returns the coefficients matrix.

Specified by:

getCoefficients in class Spline

Returns:

The coefficients matrix.

getInitialControlVector

public Spline.ControlVector getInitialControlVector()

Returns the initial control vector that created this spline.

Specified by:

getInitialControlVector in class Spline

Returns:

The initial control vector that created this spline.

getFinalControlVector

public Spline.ControlVector getFinalControlVector()

Returns the final control vector that created this spline.

Specified by:

getFinalControlVector in class Spline

Returns:

The final control vector that created this spline.