HermitePoint Struct Reference

#include <hermite_point.h>

Description

Represents a boundary point along a Hermite spline.

Each point stores position (2D), first derivative (tangent/velocity), and optional second derivative (acceleration) information.

Public Member Functions
	HermitePoint ()=default
	Default constructor initializing all vectors to zero.
	HermitePoint (const Translation2d &point, const Translation2d &tangent, const Translation2d &second_derivative=Translation2d())
	Constructs a HermitePoint from Translation2d vectors.
	HermitePoint (double x, double y, double vx, double vy)
	Constructs a HermitePoint from scalar position and tangent components.
	HermitePoint (double x, double y, double vx, double vy, double ax, double ay)
	Constructs a HermitePoint from scalar position, tangent, and second derivative components.
Translation2d	get_point () const
Translation2d	get_tangent () const
Translation2d	get_second_derivative () const

Static Public Member Functions
static HermitePoint	from_derivatives (const Translation2d &point, const Translation2d &tangent, const Translation2d &second_derivative=Translation2d())
	Factory method constructing HermitePoint from explicit derivative vectors.
static HermitePoint	from_heading (units::Length x, units::Length y, Rotation2d heading, double speed, Rotation2d accel_heading=Rotation2d(), double accel_mag=0.0)
	Factory method constructing HermitePoint from heading angle and scalar speed.
static HermitePoint	from_heading (const Translation2d &point, Rotation2d heading, double speed, Rotation2d accel_heading=Rotation2d(), double accel_mag=0.0)
	Factory method constructing HermitePoint from position vector, heading angle, and speed.
static HermitePoint	from_pose (const Pose2d &pose, double speed, double accel_mag=0.0)
	Factory method constructing HermitePoint from Pose2d and speeds.

Public Attributes
Translation2d	point
	2D position coordinates (x, y)
Translation2d	tangent
	First derivative vector (dx/du, dy/du).
Translation2d	second_derivative
	Second derivative vector (d^2x/du^2, d^2y/du^2).

Constructor & Destructor Documentation

HermitePoint() [1/3]

HermitePoint::HermitePoint ( const Translation2d & point, const Translation2d & tangent, const Translation2d & second_derivative = Translation2d() )

inline

Constructs a HermitePoint from Translation2d vectors.

Parameters

point	2D position vector.
tangent	Tangent (first derivative) vector.
second_derivative	Second derivative vector (default zero).

HermitePoint() [2/3]

HermitePoint::HermitePoint ( double x, double y, double vx, double vy )

inline

Constructs a HermitePoint from scalar position and tangent components.

Parameters

x	X coordinate.
y	Y coordinate.
vx	X tangent component.
vy	Y tangent component.

HermitePoint() [3/3]

HermitePoint::HermitePoint ( double x, double y, double vx, double vy, double ax, double ay )

inline

Constructs a HermitePoint from scalar position, tangent, and second derivative components.

Parameters

x	X coordinate.
y	Y coordinate.
vx	X tangent component.
vy	Y tangent component.
ax	X second derivative component.
ay	Y second derivative component.

Member Function Documentation

from_derivatives()

HermitePoint HermitePoint::from_derivatives ( const Translation2d & point, const Translation2d & tangent, const Translation2d & second_derivative = Translation2d() )

inlinestatic

Factory method constructing HermitePoint from explicit derivative vectors.

Parameters

point	2D position vector.
tangent	Tangent vector.
second_derivative	Second derivative vector.

Returns

Constructed HermitePoint instance.

from_heading() [1/2]

HermitePoint HermitePoint::from_heading ( const Translation2d & point, Rotation2d heading, double speed, Rotation2d accel_heading = Rotation2d(), double accel_mag = 0.0 )

inlinestatic

Factory method constructing HermitePoint from position vector, heading angle, and speed.

Parameters

point	2D position vector.
heading	Heading angle.
speed	Tangent magnitude.
accel_heading	Second derivative direction.
accel_mag	Second derivative magnitude.

Returns

Constructed HermitePoint instance.

from_heading() [2/2]

HermitePoint HermitePoint::from_heading ( units::Length x, units::Length y, Rotation2d heading, double speed, Rotation2d accel_heading = Rotation2d(), double accel_mag = 0.0 )

inlinestatic

Factory method constructing HermitePoint from heading angle and scalar speed.

Parameters

x	X coordinate in inches.
y	Y coordinate in inches.
heading	Heading angle.
speed	Tangent magnitude (speed factor).
accel_heading	Second derivative direction.
accel_mag	Second derivative magnitude.

Returns

Constructed HermitePoint instance.

from_pose()

HermitePoint HermitePoint::from_pose ( const Pose2d & pose, double speed, double accel_mag = 0.0 )

inlinestatic

Factory method constructing HermitePoint from Pose2d and speeds.

Parameters

pose	2D position and orientation.
speed	Tangent magnitude.
accel_mag	Second derivative magnitude.

Returns

Constructed HermitePoint instance.

get_point()

Translation2d HermitePoint::get_point ( ) const

inline

Returns

2D position vector.

get_second_derivative()

Translation2d HermitePoint::get_second_derivative ( ) const

inline

Returns

Second derivative vector.

get_tangent()

Translation2d HermitePoint::get_tangent ( ) const

inline

Returns

Tangent vector.

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

• core/math/spline/hermite_point.h