Generalized Clothoid

Modify the curve

exponent, 0.05 ... 1.1:








The curvature function of this curve is
kappa(s) = t^exponent
kappa(s) is the derivative of
angle(s) = t^(exponent+1) / (exponent+1)
velocity v(s) = [cos(angle(s),-sin(angle(s))]
The curve c(s) is determined by c'(s)=v(s)

clothoid.pdf