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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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3
wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
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@@ -27,7 +27,8 @@ class QuinticHermiteSplineTest : public ::testing::Test {
const auto start = std::chrono::high_resolution_clock::now();
// Generate and parameterize the spline.
const auto spline = SplineHelper::QuinticSplinesFromWaypoints({a, b})[0];
const auto spline = SplineHelper::QuinticSplinesFromControlVectors(
SplineHelper::QuinticControlVectorsFromWaypoints({a, b}))[0];
const auto poses = SplineParameterizer::Parameterize(spline);
// End timer.