org.team5419.fault.math.splines

Class QuinticHermiteSpline

Spline

org.team5419.fault.math.splines.QuinticHermiteSpline

public class QuinticHermiteSpline
extends Spline

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	QuinticHermiteSpline.Companion

Field Summary

Fields

Modifier and Type	Field and Description
static QuinticHermiteSpline.Companion	Companion

Constructor Summary

Constructors

Constructor and Description
QuinticHermiteSpline(double x0, double x1, double dx0, double dx1, double ddx0, double ddx1, double y0, double y1, double dy0, double dy1, double ddy0, double ddy1)

Method Summary

Modifier and Type	Method and Description
double	dCurvature2(double t)
double	getCurvature(double t)
double	getDCurvature(double t)
Pose2d	getEndPose()
Rotation2d	getHeading(double t)
Vector2	getPoint(double t)
Pose2d	getStartPose()
double	getVelocity(double t)
double	sumDCurvature2()
java.lang.String	toString()

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

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

Field Detail

Companion

public static QuinticHermiteSpline.Companion Companion

Constructor Detail

QuinticHermiteSpline

public QuinticHermiteSpline(double x0,
                            double x1,
                            double dx0,
                            double dx1,
                            double ddx0,
                            double ddx1,
                            double y0,
                            double y1,
                            double dy0,
                            double dy1,
                            double ddy0,
                            double ddy1)

Method Detail

getStartPose

public Pose2d getStartPose()

getEndPose

public Pose2d getEndPose()

getPoint

public Vector2 getPoint(double t)

getVelocity

public double getVelocity(double t)

getCurvature

public double getCurvature(double t)

getDCurvature

public double getDCurvature(double t)

dCurvature2

public double dCurvature2(double t)

getHeading

public Rotation2d getHeading(double t)

sumDCurvature2

public double sumDCurvature2()

toString

public java.lang.String toString()