PathSegment

class PathSegment

Path segment composed of a parametric curve and heading interpolator.

curve - parametric curve

interpolator - heading interpolator

reversed - if true, the segment is interpolated in reverse

PathSegment(curve: ParametricCurve, interpolator: HeadingInterpolator = TangentInterpolator(), reversed: Boolean = false)

Path segment composed of a parametric curve and heading interpolator.

curve	`val curve: ParametricCurve` parametric curve
interpolator	`val interpolator: HeadingInterpolator` heading interpolator
reversed	`val reversed: Boolean` if true, the segment is interpolated in reverse

deriv	`fun deriv(s: Double, t: Double = reparam(s)): Pose2d`
end	`fun end(): Pose2d` Returns the end pose.
endDeriv	`fun endDeriv(): Pose2d` Returns the end pose derivative.
endSecondDeriv	`fun endSecondDeriv(): Pose2d` Returns the end pose second derivative.
get	`operator fun get(s: Double, t: Double = reparam(s)): Pose2d`
length	`fun length(): Double`
reparam	`fun reparam(s: Double): Double`
secondDeriv	`fun secondDeriv(s: Double, t: Double = reparam(s)): Pose2d`
start	`fun start(): Pose2d` Returns the start pose.
startDeriv	`fun startDeriv(): Pose2d` Returns the start pose derivative.
startSecondDeriv	`fun startSecondDeriv(): Pose2d` Returns the start pose second derivative.