org.team5419.fault.math.splines

Class CubicHermiteSpline

Spline

org.team5419.fault.math.splines.CubicHermiteSpline

public class CubicHermiteSpline
extends Spline

Constructor Summary

Constructors

Constructor and Description
CubicHermiteSpline(Vector2 p0, Rotation2d h0, Vector2 p1, Rotation2d h1)
CubicHermiteSpline(Pose2d p0, Pose2d p1)
CubicHermiteSpline()

Method Summary

Modifier and Type	Method and Description
double	getCurvature(double t)
double	getDCurvature(double t)
Rotation2d	getHeading(double t)
Vector2	getPoint(double t)
double	getVelocity(double t)

Methods inherited from class org.team5419.fault.math.splines.Spline

getCurvature, getDCurvature, getHeading, getPoint, getPose, getPoseWithCurvature, getVelocity

Constructor Detail

CubicHermiteSpline

public CubicHermiteSpline(Vector2 p0,
                          Rotation2d h0,
                          Vector2 p1,
                          Rotation2d h1)

CubicHermiteSpline

public CubicHermiteSpline(Pose2d p0,
                          Pose2d p1)

CubicHermiteSpline

public CubicHermiteSpline()

Method Detail

getPoint

public Vector2 getPoint(double t)

getHeading

public Rotation2d getHeading(double t)

getCurvature

public double getCurvature(double t)

getDCurvature

public double getDCurvature(double t)

getVelocity

public double getVelocity(double t)