Spline (WPILib API 2024.3.2)

java.lang.Object

edu.wpi.first.math.spline.Spline

Direct Known Subclasses:: CubicHermiteSpline, QuinticHermiteSpline

public abstract class Spline
extends Object

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

Nested Class Summary

Nested Classes

Modifier and Type Class Description

static class Spline.ControlVector
Represents a control vector for a spline.

Method Summary

Modifier and Type	Method	Description
`abstract org.ejml.simple.SimpleMatrix`	`getCoefficients()`	Returns the coefficients of the spline.
`abstract Spline.ControlVector`	`getFinalControlVector()`	Returns the final control vector that created this spline.
`abstract Spline.ControlVector`	`getInitialControlVector()`	Returns the initial control vector that created this spline.
`PoseWithCurvature`	`getPoint(double t)`	Gets the pose and curvature at some point t on the spline.

Methods inherited from class java.lang.Object

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

Method Details
- getCoefficients
  
  public abstract org.ejml.simple.SimpleMatrix getCoefficients()
  
  Returns the coefficients of the spline.
  
  Returns:
  
  The coefficients of the spline.
- getInitialControlVector
  
  public abstract Spline.ControlVector getInitialControlVector()
  
  Returns the initial control vector that created this spline.
  
  Returns:
  
  The initial control vector that created this spline.
- getFinalControlVector
  
  public abstract Spline.ControlVector getFinalControlVector()
  
  Returns the final control vector that created this spline.
  
  Returns:
  
  The final control vector that created this spline.
- getPoint
  
  public PoseWithCurvature getPoint(double t)
  
  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.