Class used to parameterize a spline by its arc length.
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#include <SplineParameterizer.h>
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| template<int Dim> |
| static std::vector< PoseWithCurvature > | Parameterize (const Spline< Dim > &spline, double t0=0.0, double t1=1.0) |
| | Parameterizes the spline. More...
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class | CubicHermiteSplineTest |
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class | QuinticHermiteSplineTest |
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Class used to parameterize a spline by its arc length.
◆ Parameterize()
template<int Dim>
| static std::vector<PoseWithCurvature> frc::SplineParameterizer::Parameterize |
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const Spline< Dim > & |
spline, |
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double |
t0 = 0.0, |
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double |
t1 = 1.0 |
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inlinestatic |
Parameterizes the spline.
This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.
- Parameters
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| spline | The spline to parameterize. |
| t0 | Starting internal spline parameter. It is recommended to leave this as default. |
| t1 | Ending internal spline parameter. It is recommended to leave this as default. |
- Returns
- A vector of poses and curvatures that represents various points on the spline.
The documentation for this class was generated from the following file: