CubicHermiteSpline

class wpimath.CubicHermiteSpline(x_initial_control_vector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], x_final_control_vector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], y_initial_control_vector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], y_final_control_vector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex])

Bases: Spline3

Represents a hermite spline of degree 3.

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.

WPIStruct = <capsule object "WPyStruct">
get_final_control_vector() → wpimath._wpimath.Spline3.ControlVector

Returns the final control vector that created this spline.

Returns:

The final control vector that created this spline.

get_initial_control_vector() → wpimath._wpimath.Spline3.ControlVector

Returns the initial control vector that created this spline.

Returns:

The initial control vector that created this spline.