Clothoid
========

.. autoclass:: pyclothoids.Clothoid
	
	.. automethod:: StandardParams
	.. automethod:: G1Hermite
	.. automethod:: Forward
	.. autoattribute:: Parameters
	.. attribute:: length

		The total arc length of the Clothoid

		:getter: Returns the arc length of the clothoid
		:setter: Arc length cannot be modified
		:type: float
		
	.. attribute:: dk

		The curvature rate of the Clothoid

		:getter: Returns the curvature rate of the clothoid
		:setter: Curvature rate cannot be modified
		:type: float
	
	.. attribute:: XStart

		The X coordinate of the Clothoid at its starting point

		:getter: Returns the initial X coordinate of the clothoid
		:setter: Initial X coordinate cannot be modified
		:type: float
    
	.. attribute:: XEnd

		The X coordinate of the Clothoid at its end point

		:getter: Returns the final X coordinate of the clothoid
		:setter: Final X coordinate cannot be modified
		:type: float
	
	.. attribute:: YStart

		The Y coordinate of the Clothoid at its starting point

		:getter: Returns the initial Y coordinate of the clothoid
		:setter: Initial Y coordinate cannot be modified
		:type: float
	
	.. attribute:: YEnd

		The Y coordinate of the Clothoid at its end point

		:getter: Returns the final Y coordinate of the clothoid
		:setter: Final Y coordinate cannot be modified
		:type: float
		
			
	.. attribute:: ThetaStart

		The tangent angle of the Clothoid at its starting point

		:getter: Returns the initial tangent angle of the clothoid in radians
		:setter: Initial angle cannot be modified
		:type: float
	
	.. attribute:: ThetaEnd

		The tangent angle of the Clothoid at its end point

		:getter: Returns the final tangent angle of the clothoid in radians
		:setter: Final angle cannot be modified
		:type: float
	
	.. attribute:: KappaStart

		The curvature of the Clothoid at its starting point

		:getter: Returns the initial curvature of the clothoid
		:setter: Initial curvature cannot be modified
		:type: float
	
	.. attribute:: KappaEnd

		The curvature of the Clothoid at its end point

		:getter: Returns the final curvature of the clothoid
		:setter: Final curvature cannot be modified
		:type: float
		
	.. method:: X(s)
	
		Returns the X coordinate of the clothoid at arc length s from the initial point
		
	.. method:: XD(s)
	
		Returns the derivative of the X coordinate of the clothoid at arc length s from the initial point
	
	.. method:: XDD(s)
	
		Returns the second derivative of the X coordinate of the clothoid at arc length s from the initial point
	
	.. method:: XDDD(s)
	
		Returns the third derivative of the X coordinate of the clothoid at arc length s from the initial point
	
	.. method:: Y(s)
	
		Returns the Y coordinate of the clothoid at arc length s from the initial point
	
	.. method:: YD(s)
	
		Returns the derivative of the Y coordinate of the clothoid at arc length s from the initial point
	
	.. method:: YDD(s)
	
		Returns the second derivative of the Y coordinate of the clothoid at arc length s from the initial point
	
	.. method:: YDDD(s)
	
		Returns the third derivative of the Y coordinate of the clothoid at arc length s from the initial point

	.. method:: Theta(s)
	
		Returns the tangent angle of the clothoid at arc length s from the initial point
	
	.. method:: ThetaD(s)
	
		Returns the derivative of the tangent angle of the clothoid at arc length s from the initial point
	
	.. method:: ThetaDD(s)
	
		Returns the second derivative of the tangent angle of the clothoid at arc length s from the initial point
	
	.. method:: ThetaDDD(s)
	
		Returns the third derivative of the tangent angle of the clothoid at arc length s from the initial point
		
	.. automethod:: SampleXY
	.. automethod:: Scale
	.. automethod:: Translate
	.. automethod:: Rotate
	.. automethod:: Flip
	.. automethod:: Reverse
	.. automethod:: Trim