14 #include "frc/spline/Spline.h"
37 std::array<double, 3> xFinalControlVector,
38 std::array<double, 3> yInitialControlVector,
39 std::array<double, 3> yFinalControlVector);
47 return m_coefficients;
51 Eigen::Matrix<double, 6, 6> m_coefficients =
52 Eigen::Matrix<double, 6, 6>::Zero();
58 static Eigen::Matrix<double, 6, 6> MakeHermiteBasis() {
60 static const auto basis = (Eigen::Matrix<double, 6, 6>() <<
61 -06.0, -03.0, -00.5, +06.0, -03.0, +00.5,
62 +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
63 -10.0, -06.0, -01.5, +10.0, -04.0, +00.5,
64 +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
65 +00.0, +01.0, +00.0, +00.0, +00.0, +00.0,
66 +01.0, +00.0, +00.0, +00.0, +00.0, +00.0).finished();
80 static Eigen::Matrix<double, 6, 1> ControlVectorFromArrays(
81 std::array<double, 3> initialVector, std::array<double, 3> finalVector) {
82 return (Eigen::Matrix<double, 6, 1>() << initialVector[0], initialVector[1],
83 initialVector[2], finalVector[0], finalVector[1], finalVector[2])