https://github.com/jonathanhliu21/hermite

https://github.com/jonathanhliu21/hermite

Last synced: about 2 months ago
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• Host: GitHub
• URL: https://github.com/jonathanhliu21/hermite
• Owner: jonathanhliu21
• License: mit
• Created: 2023-05-22T06:01:19.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2023-05-27T21:13:02.000Z (over 1 year ago)
• Last Synced: 2024-06-21T22:29:25.607Z (7 months ago)
• Language: C++
• Homepage: https://jonathanhliu21.github.io/hermite/
• Size: 1020 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Code of conduct: CODE_OF_CONDUCT.md

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README

        
# Welcome to hermite

Hermite is a C++ library for computing cubic Hermite splines and natural cubic splines (mainly for robotics).

## Installation

Install the library:

```sh

$ cmake -B build -DCMAKE_BUILD_TYPE=Release

$ cmake --build build --target install

```

Then place the code below:

```cmake

cmake_minimum_required(VERSION 3.16.3)

project(MyProject LANGUAGES CXX)

 

find_package(hermite REQUIRED)

 

add_executable(main main.cpp)

target_link_libraries(main PRIVATE hermite::hermite)

```

The include path will be like so:

```cpp

#include    // for cubic splines

#include  // for hermite splines

```

### Local installation

To install locally, you can clone the repository, then copy the folders containing the source code (i.e. the `include/hermite` folder) into your codebase.

## Example usage

Below is example code:

```cpp

#include 

#include 

#include 

int main() {

  // create hermite object

  hermite::Hermite<1> h;

  // create poses

  hermite::Pose<1> p0{-3, {-2}, {0}};

  hermite::Pose<1> p1{0, {2}, {1}};

  hermite::Pose<1> p2{2, {3}, {2}};

  hermite::Pose<1> p3{6, {0}, {0}};

  // add poses into hermite object

  h.insert(p0);

  h.insert(p1);

  h.insert(p2);

  h.insert(p3);

  // calculate position, velocity, acceleration vectors

  svector::Vector<1> pos1 = h.getPos(-1.5);

  svector::Vector<1> vel1 = h.getVel(-1.5);

  svector::Vector<1> acc1 = h.getAcc(-1.5);

  std::cout << pos1.toString() << std::endl; // <-0.375>

  std::cout << vel1.toString() << std::endl; // <1.75>

  std::cout << acc1.toString() << std::endl; // <0.333>

}

```