Function sample_dubins_with_yaw 

pub fn sample_dubins_with_yaw(
    path: &DubinsPath,
    step: f64,
) -> (Vec<f64>, Vec<f64>, Vec<f64>)

Sample a Dubins path returning separate x, y, yaw vectors.

This mirrors DubinsPlanner::sample_path but also tracks the yaw at each sample point.