#include <BipedalLocomotion/Math/CubicSpline.h>
template<typename T>
BipedalLocomotion::Math::CubicSpline class

Cubic spline implements a 3-rd order polynomial spline in $\mathbb{R}^n$ .

Base classes

template<typename T>
class Spline<T>
Spline implement a basic spline.

Public functions

auto setInitialConditions(Eigen::Ref<const T> initialVelocity) -> bool
auto setFinalConditions(Eigen::Ref<const T> finalVelocity) -> bool

Private functions

void computeIntermediateQuantities() final
Compute the intermediate quantities.

Function documentation

template<typename T>
void BipedalLocomotion::Math::CubicSpline<T>::computeIntermediateQuantities() final private

Compute the intermediate quantities.