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QuinticSpline(start: Knot, end: Knot, maxDeltaK: Double = 0.01, maxSegmentLength: Double = 0.25, maxDepth: Int = 30)

Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details.

start - start waypoint

end - end waypoint

maxDeltaK - maximum change in curvature between arc length param segments

maxSegmentLength - maximum length of a single param segment

maxDepth - maximum stack depth