Final answer:
The two types of RNAV waypoints are fly-by and fly-over waypoints. Fly-over waypoints allow anticipation turns.
Step-by-step explanation:
The two types of RNAV waypoints are fly-by and fly-over waypoints. A fly-by waypoint is a point in space that the aircraft will fly directly over, without making a turn. On the other hand, a fly-over waypoint is a point in space that the aircraft will pass to one side of, and it requires the aircraft to make a turn to reach the subsequent waypoint. Anticipation turns are only possible at fly-over waypoints. These turns are made in advance to ensure that the aircraft is correctly positioned for the next segment of the flight plan.