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WPILibC++
2020.3.2
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Represents a two-dimensional parametric spline that interpolates between two points. More...
#include <Spline.h>
Classes | |
| struct | ControlVector |
| Represents a control vector for a spline. More... | |
Public Types | |
| using | PoseWithCurvature = std::pair< Pose2d, curvature_t > |
Public Member Functions | |
| Spline (const Spline &)=default | |
| Spline & | operator= (const Spline &)=default |
| Spline (Spline &&)=default | |
| Spline & | operator= (Spline &&)=default |
| PoseWithCurvature | GetPoint (double t) const |
| Gets the pose and curvature at some point t on the spline. More... | |
Protected Member Functions | |
| virtual Eigen::Matrix< double, 6, Degree+1 > | Coefficients () const =0 |
| Returns the coefficients of the spline. More... | |
Static Protected Member Functions | |
| 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... | |
Represents a two-dimensional parametric spline that interpolates between two points.
| Degree | The degree of the spline. |
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protectedpure virtual |
Returns the coefficients of the spline.
Implemented in frc::QuinticHermiteSpline, and frc::CubicHermiteSpline.
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inlinestaticprotected |
Converts an Eigen vector into a Translation2d.
| vector | The vector to convert. |
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inline |
Gets the pose and curvature at some point t on the spline.
| t | The point t |
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inlinestaticprotected |
Converts a Translation2d into a vector that is compatible with Eigen.
| translation | The Translation2d to convert. |