ClothoidX

Draw 2D clothoid curves, or build a spline using points and their tangent angle (G1 fitting) or using points, their tangent angles and their curvature values (G2 fitting).

A clothoid (euler, cornu spiral) is a curve whose curvature varies linearly with respect to its arc length. In this repository I explore generation, segmentation, and interpolation of clothoids using methods described by various researchers.

Building clothoid segments given arc length, initial curvature and curvature derivative, or arc length and initial and final curvature:

segment.lerp.mp4

Building clothoid curves by appending segments:

segment.building.test.mp4

G1 fitting via Bertolazzi & Frego (as well as Walton & Meek):

g1.test.num2.2.deg.mp4

G2 Approximation via Singh & McCrae:

singhmccrae.test.mp4