org.team5419.fault.math.splines

Class Spline

org.team5419.fault.math.splines.Spline

Direct Known Subclasses:

CubicHermiteSpline, QuinticHermiteSpline

public class Spline

Constructor Summary

Constructors

Constructor and Description
Spline()

Method Summary

Modifier and Type	Method and Description
double	getCurvature(double t)
double	getDCurvature(double t)
Rotation2d	getHeading(double t)
Vector2	getPoint(double t)
Pose2d	getPose(double t)
Pose2dWithCurvature	getPoseWithCurvature(double t)
double	getVelocity(double t)

Constructor Detail

Spline

public Spline()

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)

getPose

public Pose2d getPose(double t)

getPoseWithCurvature

public Pose2dWithCurvature getPoseWithCurvature(double t)