LinearInterpolator

class LinearInterpolator : HeadingInterpolator

Linear heading interpolator for time-optimal transitions between poses.

startHeading - start heading

angle - angle to sweep through (can be greater than a revolution)

LinearInterpolator(startHeading: Double, angle: Double)

Linear heading interpolator for time-optimal transitions between poses.

lateinit var curve: ParametricCurve

Base parametric curve

deriv	`fun deriv(s: Double, t: Double = curve.reparam(s)): Double` Returns the heading derivative at the specified s.
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.
get	`operator fun get(s: Double, t: Double = curve.reparam(s)): Double` Returns the heading at the specified s.
init	`open fun init(curve: ParametricCurve): Unit` Initialize the interpolator with a curve.
secondDeriv	`fun secondDeriv(s: Double, t: Double = curve.reparam(s)): Double` Returns the heading second derivative at the specified s.
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.