QuinticHermiteSpline

class wpimath.spline.QuinticHermiteSpline(xInitialControlVector: Tuple[SupportsFloat, SupportsFloat, SupportsFloat], xFinalControlVector: Tuple[SupportsFloat, SupportsFloat, SupportsFloat], yInitialControlVector: Tuple[SupportsFloat, SupportsFloat, SupportsFloat], yFinalControlVector: Tuple[SupportsFloat, SupportsFloat, SupportsFloat])

Bases: Spline5

Represents a hermite spline of degree 5.

Constructs a quintic hermite spline with the specified control vectors. Each control vector contains into about the location of the point, its first derivative, and its second 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.

getFinalControlVector() → wpimath.spline._spline.Spline5.ControlVector

Returns the final control vector that created this spline.

Returns:

The final control vector that created this spline.

getInitialControlVector() → wpimath.spline._spline.Spline5.ControlVector

Returns the initial control vector that created this spline.

Returns:

The initial control vector that created this spline.