package Ġorg . team 5 4 1 9 . fault . math . sp lines Ċ Ċ import Ġorg . team 5 4 1 9 . fault . math . geometry . Vector 2 d Ċ import Ġorg . team 5 4 1 9 . fault . math . geometry . Rotation 2 d Ċ import Ġorg . team 5 4 1 9 . fault . math . geometry . Pose 2 d Ċ import Ġorg . team 5 4 1 9 . fault . math . geometry . Pose 2 d With Cur v ature Ċ Ċ abstract Ġclass ĠSpl ine Ġ{ ĊĊĠĠĠ Ġabstract Ġfun Ġget Point ( t : ĠDouble ): ĠVector 2 d ĊĊĠĠĠ Ġabstract Ġfun Ġget Heading ( t : ĠDouble ): ĠRotation 2 d ĊĊĠĠĠ Ġabstract Ġfun Ġget Cur v ature ( t : ĠDouble ): ĠDouble ĊĊĠĠĠ Ġabstract Ġfun Ġget D Cur v ature ( t : ĠDouble ): ĠDouble ĊĊĠĠĠ Ġabstract Ġfun Ġget Velocity ( t : ĠDouble ): ĠDouble ĊĊĠĠĠ Ġfun Ġget Pose ( t : ĠDouble ): ĠP ose 2 d Ġ{ ĊĠĠĠĠĠĠĠ Ġreturn ĠP ose 2 d ( get Point ( t ), Ġget Heading ( t )) ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġfun Ġget Pose With Cur v ature ( t : ĠDouble ): ĠP ose 2 d With Cur v ature Ġ{ ĊĠĠĠĠĠĠĠ Ġreturn ĠP ose 2 d With Cur v ature ( get Pose ( t ), Ġget Cur v ature ( t ), Ġget D Cur v ature ( t )) ĊĠĠĠ Ġ} Ċ } Ċ