CubicHermiteSpline

class wpimath.spline.CubicHermiteSpline(xInitialControlVector: Tuple[float, float], xFinalControlVector: Tuple[float, float], yInitialControlVector: Tuple[float, float], yFinalControlVector: Tuple[float, float])

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.