Spline5

class wpimath.spline.Spline5

Bases: pybind11_object

Represents a two-dimensional parametric spline that interpolates between two points.

@tparam Degree The degree of the spline.

class ControlVector(x: Tuple[float, float, float], y: Tuple[float, float, float])

Bases: pybind11_object

Represents a control vector for a spline.

Each element in each array represents the value of the derivative at the index. For example, the value of x[2] is the second derivative in the x dimension.

property x

property y

getPoint(t: float) → Tuple[wpimath.geometry._geometry.Pose2d, radians_per_meter]

Gets the pose and curvature at some point t on the spline.

Parameters:

t – The point t

Returns:

The pose and curvature at that point.