WPILibC++  2020.3.2-60-g3011ebe
frc::SplineParameterizer Class Reference

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

#include <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)
 Parameterizes the spline. More...
 

Friends

class CubicHermiteSplineTest
 
class QuinticHermiteSplineTest
 

Detailed Description

Class used to parameterize a spline by its arc length.

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

Parameterizes the spline.

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

Parameters
splineThe spline to parameterize.
t0Starting internal spline parameter. It is recommended to leave this as default.
t1Ending 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.

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