fromData

Create a trajectory spline from raw x(t) and y(t) samples.

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Declaration

 self = fromData(t,x,y,options)

Parameters

• t strictly increasing shared trajectory parameter vector
• x x-coordinate samples evaluated at t
• y y-coordinate samples evaluated at t
• options.S spline degree shared by both coordinate splines

Returns

• self TrajectorySpline instance

Discussion

Use this factory when the coordinate components of a planar trajectory are known at the same parameter samples and should each be fit as a one-dimensional ConstrainedSpline.

The resulting component models satisfy

\[x(t_i) = x_i, \qquad y(t_i) = y_i,\]

for each supplied sample pair x_i, y_i at parameter value t_i.

  t = linspace(0, 1, 20)';
  x = cos(2*pi*t);
  y = sin(2*pi*t);
  trajectory = TrajectorySpline.fromData(t, x, y, S=3);