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
protected abstract org.ejml.simple.SimpleMatrix	getCoefficients()	Returns the coefficients of the 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

protected abstract org.ejml.simple.SimpleMatrix getCoefficients()

Returns the coefficients of the spline.

Returns:

The coefficients of the 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.