### CLOTHOID SPLINE TRANSITION SPIRALS

2018-11-16u2002·u2002spiral would have constant curvature and would be a circular arc or straight line. It is easy to determine if it is possible to match the given data with a circular arc or straight line. Henceforth, assume that 0 < KP < Kq . A standard form of the above interpolation problem is obtained by placing P

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