trajopt::CubicHermiteSpline Class Reference

Represents a hermite spline of degree 3. More...

#include <trajopt/spline/cubic_hermite_spline.hpp>

Inheritance diagram for trajopt::CubicHermiteSpline:

Public Member Functions
	CubicHermiteSpline (std::array< double, 2 > x_initial_control_vector, std::array< double, 2 > x_final_control_vector, std::array< double, 2 > y_initial_control_vector, std::array< double, 2 > y_final_control_vector)
const Eigen::Matrix< double, 6, 3+1 > &	coefficients () const override
const ControlVector &	get_initial_control_vector () const override
const ControlVector &	get_final_control_vector () const override
Public Member Functions inherited from trajopt::Spline< 3 >
std::optional< PoseWithCurvature >	get_point (double t) const

Additional Inherited Members
Public Types inherited from trajopt::Spline< 3 >
using	PoseWithCurvature
	Pose2d with curvature.

Detailed Description

Represents a hermite spline of degree 3.

Constructor & Destructor Documentation

CubicHermiteSpline()

trajopt::CubicHermiteSpline::CubicHermiteSpline ( std::array< double, 2 > x_initial_control_vector, std::array< double, 2 > x_final_control_vector, std::array< double, 2 > y_initial_control_vector, std::array< double, 2 > y_final_control_vector )

inline

Constructs a cubic hermite spline with the specified control vectors. Each control vector contains info about the location of the point and its first derivative.

Parameters

x_initial_control_vector	The control vector for the initial point in the x dimension.
x_final_control_vector	The control vector for the final point in the x dimension.
y_initial_control_vector	The control vector for the initial point in the y dimension.
y_final_control_vector	The control vector for the final point in the y dimension.

Member Function Documentation

coefficients()

const Eigen::Matrix< double, 6, 3+1 > & trajopt::CubicHermiteSpline::coefficients ( ) const

inlineoverridevirtual

Returns the coefficients matrix.

Returns

The coefficients matrix.

Implements trajopt::Spline< 3 >.

get_final_control_vector()

const ControlVector & trajopt::CubicHermiteSpline::get_final_control_vector ( ) const

inlineoverridevirtual

Returns the final control vector that created this spline.

Returns

The final control vector that created this spline.

Implements trajopt::Spline< 3 >.

get_initial_control_vector()

const ControlVector & trajopt::CubicHermiteSpline::get_initial_control_vector ( ) const

inlineoverridevirtual

Returns the initial control vector that created this spline.

Returns

The initial control vector that created this spline.

Implements trajopt::Spline< 3 >.

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The documentation for this class was generated from the following file:

• include/trajopt/spline/cubic_hermite_spline.hpp