PathSegment

class PathSegment (source)

Path segment composed of a parametric curve and heading interpolator.

curve - parametric curve

interpolator - heading interpolator

Path segment composed of a parametric curve and heading interpolator.

PathSegment(curve: ParametricCurve, interpolator: HeadingInterpolator = TangentInterpolator())

curve	parametric curve `val curve: ParametricCurve`
interpolator	heading interpolator `val interpolator: HeadingInterpolator`

deriv	`fun deriv(s: Double, t: Double = reparam(s)): Pose2d`
end	Returns the end pose. `fun end(): Pose2d`
endDeriv	Returns the end pose derivative. `fun endDeriv(): Pose2d`
endSecondDeriv	Returns the end pose second derivative. `fun endSecondDeriv(): Pose2d`
endTangentAngle	Returns the end tangent angle. `fun endTangentAngle(): Double`
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	Returns the start pose. `fun start(): Pose2d`
startDeriv	Returns the start pose derivative. `fun startDeriv(): Pose2d`
startSecondDeriv	Returns the start pose second derivative. `fun startSecondDeriv(): Pose2d`
startTangentAngle	Returns the start tangent angle. `fun startTangentAngle(): Double`
tangentAngle	`fun tangentAngle(s: Double, t: Double = reparam(s)): Double`