SplineParameterizer

class wpimath.SplineParameterizer

Bases: pybind11_object

Class used to parameterize a spline by its arc length.

static parameterize(*args, **kwargs)

Overloaded function.

  1. parameterize(spline: wpimath._wpimath.Spline3, t0: typing.SupportsFloat | typing.SupportsIndex = 0.0, t1: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> list[tuple[wpimath._wpimath.Pose2d, wpimath.units.radians_per_meter]]

Parametrizes the spline. This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.

Parameters:

  • spline – The spline to parameterize.

  • t0 – Starting internal spline parameter. It is recommended to leave this as default.

  • t1 – Ending internal spline parameter. It is recommended to leave this as default.

Returns:

A vector of poses and curvatures that represents various points on the spline.

  1. parameterize(spline: wpimath._wpimath.Spline5, t0: typing.SupportsFloat | typing.SupportsIndex = 0.0, t1: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> list[tuple[wpimath._wpimath.Pose2d, wpimath.units.radians_per_meter]]

Parametrizes the spline. This method breaks up the spline into various arcs until their dx, dy, and dtheta are within specific tolerances.

Parameters:

  • spline – The spline to parameterize.

  • t0 – Starting internal spline parameter. It is recommended to leave this as default.

  • t1 – Ending internal spline parameter. It is recommended to leave this as default.

Returns:

A vector of poses and curvatures that represents various points on the spline.