pub fn clothoid_sample(
x0: f64,
y0: f64,
theta0: f64,
kappa0: f64,
kappa1: f64,
length: f64,
n_points: usize,
) -> (Vec<f64>, Vec<f64>, Vec<f64>, Vec<f64>)Expand description
Sample n_points along a clothoid starting at pose (x0, y0, theta0),
with initial curvature kappa0, sharpness kappa1, and total arc length length.
Returns (xs, ys, thetas, kappas) vectors at each sample point.