G0:
Position (touching)
G1:
Tangent (angle)
G2:
Curvature (radius)
G3:
A G3 path is characterized by a continuously differentiable curvature profile。Acceleration/Torsion (rate of change of curvature 、 sharpness)
clothoid:
An Euler spiral is a curve whose curvature changes linearly with its curve length.
GitHub - CoffeeKumazaki/euler_spiral: The c++ implementation for Euler spiral (clothoid).
Sharpness:
一般用于clouthoid, 代表曲率的倒数 dk / ds
derivative of curvature with respect to arc length
CC:
curvature continunity
HC:
hybrid curvature continunity (换向 忽略曲率连续)
RS&CC&HC曲线 - 知乎
Clothoid回旋曲线在APA路径优化中的工程应用实例及其C++源码分析与下载-CSDN博客
REF
Continutity 1 : G0, G1, G2, G3
What is Surface Continuity? | Types Of Surface Continuities