com.arcrobotics.ftclib.spline

Class CubicHermiteSpline

java.lang.Object

com.arcrobotics.ftclib.spline.Spline

com.arcrobotics.ftclib.spline.CubicHermiteSpline

public class CubicHermiteSpline
extends Spline

Nested Class Summary

Nested classes/interfaces inherited from class com.arcrobotics.ftclib.spline.Spline

Spline.ControlVector

Constructor Summary

Constructors

Constructor and Description
CubicHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector, double[] yInitialControlVector, double[] yFinalControlVector) Constructs a cubic hermite spline with the specified control vectors.

Method Summary

Modifier and Type	Method and Description
protected SimpleMatrix	getCoefficients() Returns the coefficients matrix.

Methods inherited from class com.arcrobotics.ftclib.spline.Spline

getPoint

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CubicHermiteSpline

public CubicHermiteSpline(double[] xInitialControlVector,
                          double[] xFinalControlVector,
                          double[] yInitialControlVector,
                          double[] yFinalControlVector)

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:

xInitialControlVector - The control vector for the initial point in the x dimension.

xFinalControlVector - The control vector for the final point in the x dimension.

yInitialControlVector - The control vector for the initial point in the y dimension.

yFinalControlVector - The control vector for the final point in the y dimension.

Method Detail

getCoefficients

protected SimpleMatrix getCoefficients()

Returns the coefficients matrix.

Specified by:

getCoefficients in class Spline

Returns:

The coefficients matrix.