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clothoid_g1_fit

rust_robotics_planning::clothoid_path

Function clothoid_g1_fit 

Source 
pub fn clothoid_g1_fit(
    start: &Pose2D,
    goal: &Pose2D,
) -> RoboticsResult<(f64, f64, f64)>
Expand description

Solve the G1 Hermite interpolation problem: find a clothoid connecting two poses (x0, y0, theta0) and (x1, y1, theta1).

Returns (kappa0, kappa1, length) – initial curvature, sharpness, arc length.

Uses an iterative Newton-Raphson method on the clothoid parameters.