我不确定你当前的代码是否正确。我编写了一个简短的脚本，使用相似的参数插值Euler缓和曲线，它给出了不同的结果：import numpy as np
from math import cos, sin, pi, radians, sqrt
from scipy.special import fresnel
import matplotlib.pyplot as plt
def spiral_interp_centre(distance, x, y, hdg, length, curvEnd):
'''Interpolate for a spiral centred on the origin'''
# s doesn't seem to be needed...
theta = hdg # Angle of the start of the curve
Ltot = length # Length of curve
Rend = 1 / curvEnd # Radius of curvature at end of spiral
# Rescale, compute and unscale
a = 1 / sqrt(2 * Ltot * Rend) # Scale factor
distance_scaled = distance * a # Distance along normalised spiral
deltay_scaled, deltax_scaled = fresnel(distance_scaled)
deltax = deltax_scaled / a
deltay = deltay_scaled / a
# deltax and deltay give coordinates for theta=0
del
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