Add cubic beizer spline class and tests
Change-Id: Ice1d1f3301b3b3a0faef03240bb1afc6de5f4112
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index abc8aaf..6dbee52 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -10,8 +10,8 @@
],
deps = [
":drivetrain_queue",
- "//aos/controls:replay_control_loop",
"//aos:init",
+ "//aos/controls:replay_control_loop",
"//frc971/queues:gyro",
],
)
@@ -66,7 +66,7 @@
"//aos/controls:polytope",
"//aos/logging:matrix_logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
"//aos/util:log_interval",
"//aos/util:trapezoid_profile",
"//frc971:shifter_hall_effect",
@@ -91,7 +91,7 @@
"//aos/controls:polytope",
"//aos/logging:matrix_logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
"//aos/util:log_interval",
"//frc971/control_loops:coerce_goal",
"//frc971/control_loops:state_feedback_loop",
@@ -257,3 +257,26 @@
"//frc971/control_loops:state_feedback_loop",
],
)
+
+cc_library(
+ name = "spline",
+ srcs = ["spline.cc"],
+ hdrs = ["spline.h"],
+ deps = [
+ "//third_party/eigen",
+ ],
+)
+
+cc_test(
+ name = "spline_test",
+ srcs = [
+ "spline_test.cc",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":spline",
+ "//aos/testing:googletest",
+ "//third_party/matplotlib-cpp",
+ "@com_github_gflags_gflags//:gflags",
+ ],
+)