2.4 The Spl_Cubic class
Spl_Cubic deals with parametric cubic splines [9].
Constructor
Syntax
Spl_cubic(){};
Spl_cubic(const Matrix & pts);
Spl_cubic(const Spl_cubic & x);
Spl_cubic & operator=(const Spl_cubic & x);
Description
Spl_Cubic object constructor, copy constructor and equal operator.
Return Value
None
s, ds and dds
Syntax
short interpolating(const Real t, ColumnVector & s);
short first_derivative(const Real t, ColumnVector & ds);
short second_derivative(const Real t, ColumnVector & dds);
Description
These functions interpolate the spline at time t to sets the quaternion s, ds and
dds.
Return Value
Status, as a short int.
- 0 successful
- NOT_IN_RANGE (regarding t)
- BAD_DATA