spline.hpp File Reference

Quintic Hermite spline over 2-D waypoints. More...

#include <array>
#include <optional>
#include <vector>

Go to the source code of this file.

Classes
struct	light::Waypoint
	Single 2-D waypoint with optional heading and per-point speed cap. More...
struct	light::SplineSample
	Pose / velocity / acceleration sample produced by spline evaluation. More...
struct	light::HermiteSegment
	One segment of a quintic Hermite spline. More...
class	light::Spline
	Concatenated quintic Hermite spline with arc-length parameterization. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Detailed Description

Quintic Hermite spline over 2-D waypoints.

Used by RAMSETE trajectory generation. Produces a C² continuous curve with controllable heading at endpoints and optional heading at interior waypoints.

Convention (LightLib)

+Y forward, +X right. theta = 0 faces +Y, CW-positive. Tangent direction for a heading θ is (sin θ, cos θ). Curvature sign: positive curvature = path turning CW (robot heading increases).

Definition in file spline.hpp.