平滑几何名词

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.

羊角螺线（clothoid），又称欧拉螺线；

由于此螺线的曲率与长度成正比，故常用于公路工程或铁路工程，以缓和直路 线与圆曲路 线之间的曲率变化（向心力变化）

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

Quintic Spiral  (apollo):

Planning 基础库——螺旋曲线类 - 知乎

REF

Continutity 1 : G0, G1, G2, G3

What is Surface Continuity? | Types Of Surface Continuities