Package edu.wpi.first.math.spline

Class CubicHermiteSpline

java.lang.Object

edu.wpi.first.math.spline.Spline

edu.wpi.first.math.spline.CubicHermiteSpline

public class CubicHermiteSpline
extends Spline

Represents a hermite spline of degree 3.

Nested Class Summary

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

Spline.ControlVector

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

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.