SplineParameterizer
- class wpimath.spline.SplineParameterizer
Bases:
pybind11_object
Class used to parameterize a spline by its arc length.
- static parameterize(*args, **kwargs)
Overloaded function.
parameterize(spline: wpimath.spline._spline.Spline3, t0: float = 0.0, t1: float = 1.0) -> List[Tuple[wpimath.geometry._geometry.Pose2d, 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.
parameterize(spline: wpimath.spline._spline.Spline5, t0: float = 0.0, t1: float = 1.0) -> List[Tuple[wpimath.geometry._geometry.Pose2d, 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.