#!/usr/bin/env python3
-"""Translate equidistant path to equitemporal (isochronic) trajectory."""
+"""Translate equidistant path to equitemporal (isochronic) trajectory.
+
+Path does not need to be equidistant, in fact. Typically, the last point
+of the path segment is closer due to interpolation.
+
+It is expected that the point of the path has five values: x, y,
+heading, speed, and type, where type is +1 for left turn, -1 for right
+turn, and 0 for straight segment.
+"""
from math import sin, atan, cos, tan, pi, acos
import json