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Fix bug in cubic and quintic hermetic spline generation (#2139)

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Add documentation for spline derivatives and explicitly zero matrices.
This commit is contained in:
Matt
2019-12-01 21:29:52 -08:00
committed by Peter Johnson
parent e37ecd33ae
commit 6c8f6cf479
6 changed files with 54 additions and 11 deletions
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3
wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
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@@ -48,7 +48,8 @@ class CubicHermiteSpline : public Spline<3> {
}
private:
Eigen::Matrix<double, 6, 4> m_coefficients;
Eigen::Matrix<double, 6, 4> m_coefficients =
Eigen::Matrix<double, 6, 4>::Zero();
/**
* Returns the hermite basis matrix for cubic hermite spline interpolation.

3
wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
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@@ -48,7 +48,8 @@ class QuinticHermiteSpline : public Spline<5> {
}
private:
Eigen::Matrix<double, 6, 6> m_coefficients;
Eigen::Matrix<double, 6, 6> m_coefficients =
Eigen::Matrix<double, 6, 6>::Zero();
/**
* Returns the hermite basis matrix for quintic hermite spline interpolation.