Package edu.wpi.first.math.spline

Class SplineParameterizer

java.lang.Object

edu.wpi.first.math.spline.SplineParameterizer

public final class SplineParameterizer
extends Object

Class used to parameterize a spline by its arc length.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SplineParameterizer.MalformedSplineException

Method Summary

Modifier and Type	Method	Description
static List<PoseWithCurvature>	parameterize(Spline spline)	Parametrizes the spline.
static List<PoseWithCurvature>	parameterize(Spline spline, double t0, double t1)	Parametrizes the spline.

Methods inherited from class java.lang.Object

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

Method Details

parameterize

public static List<PoseWithCurvature> parameterize(Spline spline)

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

Parameters:

spline - The spline to parameterize.

Returns:

A list of poses and curvatures that represents various points on the spline.

Throws:

SplineParameterizer.MalformedSplineException - When the spline is malformed (e.g. has close adjacent points with approximately opposing headings)

parameterize

public static List<PoseWithCurvature> parameterize(Spline spline, double t0, double t1)

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

Parameters:

spline - The spline to parameterize.

t0 - Starting internal spline parameter. It is recommended to use 0.0.

t1 - Ending internal spline parameter. It is recommended to use 1.0.

Returns:

A list of poses and curvatures that represents various points on the spline.

Throws:

SplineParameterizer.MalformedSplineException - When the spline is malformed (e.g. has close adjacent points with approximately opposing headings)