python

def frenet_to_cartesian3D(rs, rx, ry, rtheta, rkappa, rdkappa, s_condition, d_condition):
if fabs(rs - s_condition[0])>= 1.0e-6:
print(“The reference point s and s_condition[0] don’t match”)

cos_theta_r = cos(rtheta)
sin_theta_r = sin(rtheta)

x = rx - sin_theta_r * d_condition[0]
y = ry + cos_theta_r * d_condition[0]

one_minus_kappa_r_d = 1 - rkappa * d_condition[0]
tan_delta_theta = d_condition[1] / one_minus_kappa_r_d
delta_theta = atan2(d_condition[1], one_minus_kappa_r_d)
cos_delta_theta = cos(delta_theta)

theta = NormalizeAngle(delta_theta + rtheta)
kappa_r_d_prime = rdkappa * d_condition[0] + rkappa * d_condition[1]
    
kappa = ((((d_condition[2] + kappa_r_d_prime * tan_delta_theta) *
             cos_delta_theta * cos_delta_theta) /
                (one_minus_kappa_r_d) +
            rkappa) *
           cos_delta_theta / (one_minus_kappa_r_d))
           
```mermaid

graph LR
A[长方形] – 链接 --> B((圆))
A --> C(圆角长方形)
B --> D{菱形}
C --> D

    d_dot = d_condition[1] * s_condition[1]
    
    
    v = sqrt(one_minus_kappa_r_d * one_minus_kappa_r_d * s_condition[1] * 
    s_condition[1] + d_dot * d_dot)
    
    delta_theta_prime = one_minus_kappa_r_d / cos_delta_theta * (kappa) - rkappa     
    a = (s_condition[2] * one_minus_kappa_r_d / cos_delta_theta +
           s_condition[1] * s_condition[1] / cos_delta_theta *
               (d_condition[1] * delta_theta_prime - kappa_r_d_prime))
    return x, y, v, a, theta, kappa 
    

```mermaid
classDiagram
    Class01 <|-- AveryLongClass : Cool
    <<interface>> Class01
    Class09 --> C2 : Where am i?
    Class09 --* C3
    Class09 --|> Class07
    Class07 : equals()
    Class07 : Object[] elementData
    Class01 : size()
    Class01 : int chimp
    Class01 : int gorilla
    class Class10 {
        >>service>>
        int id
        size()
    }