Class  Description 

LineSegment 
Parametric representation of a line.

ParametricCurve 
Parametric curve with two components (x and y). These curves are reparameterized from an internal parameter (t) to
the arc length parameter (s).

Path 
Path composed of a list of parametric curves and heading interpolators.

PathBuilder 
Easytouse builder for creating
class Path instances. 
PathSegment 
Path segment composed of a parametric curve and heading interpolator.

QuinticPolynomial 
Quintic polynomial interpolated according to the provided derivatives.

QuinticPolynomialKt  
QuinticSpline 
Combination of two quintic polynomials into a 2D quintic spline. See
this short paper for
some motivation and implementation details.

Exception  Description 

EmptyPathSegmentException 
Exception thrown when empty path segments are requested.

PathBuilderException 
Exception thrown by
class PathBuilder . 
PathContinuityViolationException 
Exception thrown when
class PathBuilder methods are chained illegally. This commonly arises when switching from
nontangent interpolation back to tangent interpolation and when splicing paths. 