Various utilities for working with angles.
A progression of values of type
Guiding vector field for effective path following described in section III, eq. (9) of 1610.04391.pdf. Implementation note: 2D parametric curves are used to describe paths instead of implicit curves of the form f(x,y) = 0 as described in the paper (which dramatically affects the cross track error calculation).
Various math utilities.
Clock interface with nanosecond precision and no guarantee about its origin (that is, this is only suited for measuring relative/elapsed time).