com.arcrobotics.ftclib.spline

Class SplineHelper

java.lang.Object

com.arcrobotics.ftclib.spline.SplineHelper

public final class SplineHelper
extends java.lang.Object

Method Summary

Modifier and Type	Method and Description
static Spline.ControlVector[]	getCubicControlVectorsFromWaypoints(Pose2d start, Translation2d[] interiorWaypoints, Pose2d end) Returns 2 cubic control vectors from a set of exterior waypoints and interior translations.
static CubicHermiteSpline[]	getCubicSplinesFromControlVectors(Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) Returns a set of cubic splines corresponding to the provided control vectors.
static java.util.List<Spline.ControlVector>	getQuinticControlVectorsFromWaypoints(java.util.List<Pose2d> waypoints) Returns quintic control vectors from a set of waypoints.
static QuinticHermiteSpline[]	getQuinticSplinesFromControlVectors(Spline.ControlVector[] controlVectors) Returns a set of quintic splines corresponding to the provided control vectors.

Methods inherited from class java.lang.Object

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

Method Detail

getCubicControlVectorsFromWaypoints

public static Spline.ControlVector[] getCubicControlVectorsFromWaypoints(Pose2d start,
                                                                         Translation2d[] interiorWaypoints,
                                                                         Pose2d end)

Returns 2 cubic control vectors from a set of exterior waypoints and interior translations.

Parameters:

start - The starting pose.

interiorWaypoints - The interior waypoints.

end - The ending pose.

Returns:

2 cubic control vectors.

getQuinticControlVectorsFromWaypoints

public static java.util.List<Spline.ControlVector> getQuinticControlVectorsFromWaypoints(java.util.List<Pose2d> waypoints)

Returns quintic control vectors from a set of waypoints.

Parameters:

waypoints - The waypoints

Returns:

List of control vectors

getCubicSplinesFromControlVectors

public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(Spline.ControlVector start,
                                                                     Translation2d[] waypoints,
                                                                     Spline.ControlVector end)

Returns a set of cubic splines corresponding to the provided control vectors. The user is free to set the direction of the start and end point. The directions for the middle waypoints are determined automatically to ensure continuous curvature throughout the path.

Parameters:

start - The starting control vector.

waypoints - The middle waypoints. This can be left blank if you only wish to create a path with two waypoints.

end - The ending control vector.

Returns:

A vector of cubic hermite splines that interpolate through the provided waypoints and control vectors.

getQuinticSplinesFromControlVectors

public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(Spline.ControlVector[] controlVectors)

Returns a set of quintic splines corresponding to the provided control vectors. The user is free to set the direction of all control vectors. Continuous curvature is guaranteed throughout the path.

Parameters:

controlVectors - The control vectors.

Returns:

A vector of quintic hermite splines that interpolate through the provided waypoints.