interpolator.py 文件源码

def __init__(self, ss, qs):
        """ All arguments are simiar to SplineInterpolator.
        """
        qs = np.array(qs)
        self.dof = qs.shape[1]
        self.uspl = []
        for i in range(self.dof):
            self.uspl.append(UnivariateSpline(ss, qs[:, i]))
        self.uspld = [spl.derivative() for spl in self.uspl]
        self.uspldd = [spl.derivative() for spl in self.uspld]