SplinePath Class Reference

#include <spline_path.h>

Description

Manages multi-segment Hermite spline paths.

Public Types
enum class	Order { Cubic = 3 , Quintic = 5 }
	Order of spline polynomials used per segment. More...

Public Member Functions
	SplinePath ()=default
	Default constructor.
bool	empty () const
size_t	segment_count () const
double	length () const
SplineSample	sample_by_s (double s) const
	Samples complete state at arc distance s along the multi-segment path.
std::vector< Translation2d >	sample_by_spacing (double ds) const
	Samples 2D positions uniformly spaced by distance ds along the path.
std::vector< Translation2d >	sample_by_segment_steps (double steps_per_segment) const
	Samples 2D positions with fixed number of steps per spline segment.

Static Public Member Functions
static SplinePath	from_waypoints (const std::vector< HermitePoint > &points, std::function< std::unique_ptr< SplineBase >(const HermitePoint &, const HermitePoint &, double)> factory, double max_err=1e-4)
	Constructs a multi-segment path using a custom Spline factory.
static SplinePath	from_hermite (const std::vector< HermitePoint > &points, Order order=Order::Quintic, double max_err=1e-4)
	Constructs a multi-segment path from a vector of Hermite waypoints.

Member Enumeration Documentation

Order

enum class SplinePath::Order

strong

Order of spline polynomials used per segment.

Enumerator
Cubic	Cubic Hermite splines (C1 continuity).
Quintic	Quintic Hermite splines (C2 continuity).

Member Function Documentation

empty()

bool SplinePath::empty ( ) const

inline

Returns

True if the path contains no segments.

from_hermite()

SplinePath SplinePath::from_hermite ( const std::vector< HermitePoint > & points, Order order = Order::Quintic, double max_err = 1e-4 )

inlinestatic

Constructs a multi-segment path from a vector of Hermite waypoints.

Parameters

points	Hermite waypoints defining path positions, tangents, and optional second derivatives.
order	Spline order (Cubic or Quintic).
max_err	Maximum allowable interpolation error in inches for the arc-length lookup table.

Returns

Constructed SplinePath instance.

from_waypoints()

SplinePath SplinePath::from_waypoints ( const std::vector< HermitePoint > & points, std::function< std::unique_ptr< SplineBase >(const HermitePoint &, const HermitePoint &, double)> factory, double max_err = 1e-4 )

inlinestatic

Constructs a multi-segment path using a custom Spline factory.

Parameters

points	Boundary waypoints.
factory	Factory closure producing SplineBase segments.
max_err	Maximum allowable interpolation error in inches for the arc-length lookup table.

Returns

Constructed SplinePath instance.

length()

double SplinePath::length ( ) const

inline

Returns

Total arc length of the multi-segment path in inches.

sample_by_s()

SplineSample SplinePath::sample_by_s ( double s ) const

inline

Samples complete state at arc distance s along the multi-segment path.

Parameters

s	Arc distance in inches.

Returns

SplineSample struct containing position, velocity, acceleration, heading, and curvature.

sample_by_segment_steps()

std::vector< Translation2d > SplinePath::sample_by_segment_steps ( double steps_per_segment ) const

inline

Samples 2D positions with fixed number of steps per spline segment.

Parameters

steps_per_segment

Number of steps per segment.

Returns

Vector of 2D translation points.

sample_by_spacing()

std::vector< Translation2d > SplinePath::sample_by_spacing ( double ds ) const

inline

Samples 2D positions uniformly spaced by distance ds along the path.

Parameters

ds	Distance step in inches.

Returns

Vector of 2D translation points.

segment_count()

size_t SplinePath::segment_count ( ) const

inline

Returns

Number of spline segments in the path.

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The documentation for this class was generated from the following file:

• core/math/spline/spline_path.h