TangentInterpolator

class TangentInterpolator : HeadingInterpolator

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

TangentInterpolator()

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

lateinit var parametricCurve: ParametricCurve

deriv	`fun deriv(displacement: Double): Double` Returns the heading derivative at the specified displacement.
get	`fun get(displacement: Double): Double` Returns the heading at the specified displacement.
respectsDerivativeContinuity	`fun respectsDerivativeContinuity(): Boolean` Returns true if the heading interpolator respects derivative continuity at path segment endpoints. That is, the start and end heading derivatives match those of the TangentInterpolator.
secondDeriv	`fun secondDeriv(displacement: Double): Double` Returns the heading second derivative at the specified displacement.

end	`fun end(): Double` Returns the end heading.
endDeriv	`fun endDeriv(): Double` Returns the end heading derivative.
endSecondDeriv	`fun endSecondDeriv(): Double` Returns the end heading second derivative.
init	`open fun init(parametricCurve: ParametricCurve): Unit` Initialize the interpolator with a parametricCurve.
start	`fun start(): Double` Returns the start heading.
startDeriv	`fun startDeriv(): Double` Returns the start heading derivative.
startSecondDeriv	`fun startSecondDeriv(): Double` Returns the start heading second derivative.