TrajectorySpline

Create a trajectory from canonical component-spline state.

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Declaration

 self = TrajectorySpline(options)

Parameters

• options.t strictly increasing shared trajectory parameter vector
• options.x one-dimensional spline for the x-coordinate
• options.y one-dimensional spline for the y-coordinate

Returns

• self TrajectorySpline instance

Discussion

Use this low-level constructor when you already have the shared trajectory parameter and the one-dimensional component spline objects. For ordinary fitting from raw sample values, use TrajectorySpline.fromData(...).

  xSpline = ConstrainedSpline.fromData(t, x, S=3);
  ySpline = ConstrainedSpline.fromData(t, y, S=3);
  trajectory = TrajectorySpline(t=t, x=xSpline, y=ySpline);