Package edu.wpi.first.wpilibj.spline
Class QuinticHermiteSpline
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- edu.wpi.first.wpilibj.spline.Spline
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- edu.wpi.first.wpilibj.spline.QuinticHermiteSpline
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public class QuinticHermiteSpline extends Spline
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Nested Class Summary
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Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.spline.Spline
Spline.ControlVector
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Constructor Summary
Constructors Constructor Description QuinticHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector)Constructs a quintic hermite spline with the specified control vectors.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description protected org.ejml.simple.SimpleMatrixgetCoefficients()Returns the coefficients matrix.
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Constructor Detail
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QuinticHermiteSpline
public QuinticHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector)Constructs a quintic hermite spline with the specified control vectors. Each control vector contains into about the location of the point, its first derivative, and its second derivative.- Parameters:
xInitialControlVector- The control vector for the initial point in the x dimension.xFinalControlVector- The control vector for the final point in the x dimension.yInitialControlVector- The control vector for the initial point in the y dimension.yFinalControlVector- The control vector for the final point in the y dimension.
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Method Detail
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getCoefficients
protected org.ejml.simple.SimpleMatrix getCoefficients()
Returns the coefficients matrix.- Specified by:
getCoefficientsin classSpline- Returns:
- The coefficients matrix.
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