Package edu.wpi.first.math.spline
Class Spline
- java.lang.Object
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- edu.wpi.first.math.spline.Spline
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- Direct Known Subclasses:
CubicHermiteSpline
,QuinticHermiteSpline
public abstract class Spline extends Object
Represents a two-dimensional parametric spline that interpolates between two points.
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
Spline.ControlVector
Represents a control vector for a spline.
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Method Summary
All Methods Instance Methods Abstract Methods Concrete Methods 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.
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Method Detail
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getCoefficients
protected abstract org.ejml.simple.SimpleMatrix getCoefficients()
Returns the coefficients of the spline.- Returns:
- The coefficients of the spline.
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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.
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