Class SplineParameterizer


  • public final class SplineParameterizer
    extends Object
    Class used to parameterize a spline by its arc length.
    • Method Detail

      • parameterize

        public static List<PoseWithCurvature> parameterize​(Spline spline)
        Parameterizes the spline. This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.
        Parameters:
        spline - The spline to parameterize.
        Returns:
        A list of poses and curvatures that represents various points on the spline.
        Throws:
        SplineParameterizer.MalformedSplineException - When the spline is malformed (e.g. has close adjacent points with approximately opposing headings)
      • parameterize

        public static List<PoseWithCurvature> parameterize​(Spline spline,
                                                           double t0,
                                                           double t1)
        Parameterizes the spline. This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.
        Parameters:
        spline - The spline to parameterize.
        t0 - Starting internal spline parameter. It is recommended to use 0.0.
        t1 - Ending internal spline parameter. It is recommended to use 1.0.
        Returns:
        A list of poses and curvatures that represents various points on the spline.
        Throws:
        SplineParameterizer.MalformedSplineException - When the spline is malformed (e.g. has close adjacent points with approximately opposing headings)