Function robot_controllers::CubicSpline

• Defined in File trajectory_spline_sampler.h

Function Documentation

static void robot_controllers::CubicSpline(double p0, double v0, double p1, double v1, double t, Spline &s)

Constructor for a cubic spline with between (p0,v0) and (p1,v1)

Parameters:

• p0 – Starting position.

• v0 – Starting velocity.

• p1 – Ending position.

• v1 – Ending velocity.

• t – Time between start and end.

• s – Reference to the spline to create.