Package edu.wpi.first.math.spline

Class Spline

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.
Optional<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 Optional<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.