Module catmull_rom_spline 

Catmull-Rom spline path planner

Generates a smooth, C1-continuous interpolating spline that passes through all given control points. Supports both uniform and centripetal parameterisation.

Reference:

• http://graphics.cs.cmu.edu/nsp/course/15-462/Fall04/assts/catmullRom.pdf
• PythonRobotics CatmullRomSplinePath

Structs

CatmullRomPlanner

Convenience wrapper matching the planner pattern used in CubicSplinePlanner.

CatmullRomSpline

A 2-D Catmull-Rom spline built from a sequence of waypoints.

Enums

Parameterisation

Parameterisation strategy for the Catmull-Rom spline.