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Straight turns and u turns where the angle of the turn is approx 0/180 have control points placed in an (approximate) 1:2 rectangle (u turn) or a trapezoid (straight/offset/lane change turn). Other turns have control points located 2/3 from the intersection of the from/to lane centers, which is equivalent to a quadratic bezier with the control point at the intersection. |
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src | ||
Cargo.toml |