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Refactor TrajectoryGenerator (#1972)

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This commit is contained in:
Prateek Machiraju
2019-10-26 12:39:47 -04:00
committed by Peter Johnson
parent 73a30182c3
commit 9440edf2b5
23 changed files with 825 additions and 629 deletions
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6
wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
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@@ -29,8 +29,12 @@ class CubicHermiteSplineTest : public ::testing::Test {
const auto start = std::chrono::high_resolution_clock::now();
// Generate and parameterize the spline.
const auto [startCV, endCV] =
SplineHelper::CubicControlVectorsFromWaypoints(a, waypoints, b);
const auto splines =
SplineHelper::CubicSplinesFromWaypoints(a, waypoints, b);
SplineHelper::CubicSplinesFromControlVectors(startCV, waypoints, endCV);
std::vector<Spline<3>::PoseWithCurvature> poses;
poses.push_back(splines[0].GetPoint(0.0));