CubicHermiteSpline

class wpimath.CubicHermiteSpline(xInitialControlVector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], xFinalControlVector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], yInitialControlVector: Tuple[SupportsFloat | SupportsIndex, SupportsFloat | SupportsIndex], yFinalControlVector: 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:

  • 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._wpimath.Spline3.ControlVector

Returns the final control vector that created this spline.

Returns:

The final control vector that created this spline.

getInitialControlVector() → wpimath._wpimath.Spline3.ControlVector

Returns the initial control vector that created this spline.

Returns:

The initial control vector that created this spline.