light::Spline Class Reference

Concatenated quintic Hermite spline with arc-length parameterization. More...

#include <spline.hpp>

Public Member Functions
	Spline ()=default
	Spline (const std::vector< Waypoint > &wps)
	Build a spline from waypoints.
bool	valid () const
float	totalArcLen () const
size_t	segmentCount () const
SplineSample	sampleAt (float s) const
	Sample pose / derivatives at arc length s.
float	headingAt (float s) const
	Heading at arc length s, in radians.
float	curvatureAt (float s) const
	Signed curvature at arc length s.

Detailed Description

Concatenated quintic Hermite spline with arc-length parameterization.

Construct from a list of Waypoints; the resulting spline can then be sampled by global arc length s ∈ [0, totalArcLen()].

Definition at line 60 of file spline.hpp.

Constructor & Destructor Documentation

Spline() [1/2]

light::Spline::Spline ( )

default

Spline() [2/2]

light::Spline::Spline ( const std::vector< Waypoint > &  wps )

explicit

Build a spline from waypoints.

Parameters

wps	ordered list of waypoints; must have at least 2 entries

Member Function Documentation

curvatureAt()

float light::Spline::curvatureAt

(

float

s

)

const

Signed curvature at arc length s.

Parameters

s	arc length from start

Returns

curvature in 1/in; positive = CW (matches theta sign)

headingAt()

float light::Spline::headingAt

(

float

s

)

const

Heading at arc length s, in radians.

Parameters

s	arc length from start

Returns

atan2(dx, dy) — LightLib convention (+Y forward)

sampleAt()

SplineSample light::Spline::sampleAt

(

float

s

)

const

Sample pose / derivatives at arc length s.

Parameters

s	arc length from start; clamped to [0, totalArcLen()]

segmentCount()

size_t light::Spline::segmentCount ( ) const

inline

Returns

Number of internal Hermite segments.

Definition at line 79 of file spline.hpp.

totalArcLen()

float light::Spline::totalArcLen ( ) const

inline

Returns

Total arc length of the spline, inches.

Definition at line 76 of file spline.hpp.

valid()

bool light::Spline::valid ( ) const

inline

Returns

true if the spline has at least one segment.

Definition at line 73 of file spline.hpp.

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

• include/LightLib/path/spline.hpp