Represents a hermite spline of degree 3. More...

Inheritance diagram for frc::CubicHermiteSpline:

Public Member Functions
	CubicHermiteSpline (wpi::array< double, 2 > xInitialControlVector, wpi::array< double, 2 > xFinalControlVector, wpi::array< double, 2 > yInitialControlVector, wpi::array< double, 2 > yFinalControlVector)
	Constructs a cubic hermite spline with the specified control vectors. More...

Public Member Functions inherited from frc::Spline< 3 >
	Spline ()=default

	Spline (const Spline &)=default

	Spline (Spline &&)=default

Spline &	operator= (const Spline &)=default

Spline &	operator= (Spline &&)=default

virtual	~Spline ()=default

PoseWithCurvature	GetPoint (double t) const
	Gets the pose and curvature at some point t on the spline. More...

Protected Member Functions
Matrixd< 6, 3+1 >	Coefficients () const override
	Returns the coefficients matrix. More...

virtual Matrixd< 6, Degree+1 >	Coefficients () const=0
	Returns the coefficients of the spline. More...

Additional Inherited Members
Public Types inherited from frc::Spline< 3 >
using	PoseWithCurvature = std::pair< Pose2d, units::curvature_t >

Static Protected Member Functions inherited from frc::Spline< 3 >
static Eigen::Vector2d	ToVector (const Translation2d &translation)
	Converts a Translation2d into a vector that is compatible with Eigen. More...

static Translation2d	FromVector (const Eigen::Vector2d &vector)
	Converts an Eigen vector into a Translation2d. More...

Detailed Description

Represents a hermite spline of degree 3.

Constructor & Destructor Documentation

frc::CubicHermiteSpline::CubicHermiteSpline	(	wpi::array< double, 2 >	xInitialControlVector,
		wpi::array< double, 2 >	xFinalControlVector,
		wpi::array< double, 2 >	yInitialControlVector,
		wpi::array< double, 2 >	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.

Matrixd< 6, 3+1 > frc::CubicHermiteSpline::Coefficients ( ) const

inlineoverrideprotectedvirtual

Returns the coefficients matrix.

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