Package edu.wpi.first.wpilibj.spline
Class Spline
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- edu.wpi.first.wpilibj.spline.Spline
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- Direct Known Subclasses:
CubicHermiteSpline,QuinticHermiteSpline
public abstract class Spline extends Object
Represents a two-dimensional parametric spline that interpolates between two points.
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Nested Class Summary
Nested Classes Modifier and Type Class Description static classSpline.ControlVectorRepresents a control vector for a spline.
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Method Summary
All Methods Instance Methods Abstract Methods Concrete Methods Modifier and Type Method Description protected abstract org.ejml.simple.SimpleMatrixgetCoefficients()Returns the coefficients of the spline.PoseWithCurvaturegetPoint(double t)Gets the pose and curvature at some point t on the spline.
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Method Detail
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getCoefficients
protected abstract org.ejml.simple.SimpleMatrix getCoefficients()
Returns the coefficients of the spline.- Returns:
- The coefficients of the spline.
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getPoint
public PoseWithCurvature getPoint(double t)
Gets the pose and curvature at some point t on the spline.- Parameters:
t- The point t- Returns:
- The pose and curvature at that point.
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