14 #include "frc/spline/Spline.h"
37 std::array<double, 2> xFinalControlVector,
38 std::array<double, 2> yInitialControlVector,
39 std::array<double, 2> yFinalControlVector);
47 return m_coefficients;
51 Eigen::Matrix<double, 6, 4> m_coefficients =
52 Eigen::Matrix<double, 6, 4>::Zero();
58 static Eigen::Matrix<double, 4, 4> MakeHermiteBasis() {
60 static auto basis = (Eigen::Matrix<double, 4, 4>() <<
61 +2.0, +1.0, -2.0, +1.0,
62 -3.0, -2.0, +3.0, -1.0,
63 +0.0, +1.0, +0.0, +0.0,
64 +1.0, +0.0, +0.0, +0.0).finished();
78 static Eigen::Vector4d ControlVectorFromArrays(
79 std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
80 return (Eigen::Vector4d() << initialVector[0], initialVector[1],
81 finalVector[0], finalVector[1])