Ask for help!

[SCUTBob]

In the CircularPathSegment,how to understand the function getSwitchingPoints? I don't figure out why the 3 dimensions of the vector y and x should be calculated separately when calculate the swithchingAngle. Isn't the Angle corresponding to the circularpath already calculated when generating the circularpath ?

[lastnightwith]

Hey bro，do you understand now, I have the same doubts

[LiangXin-gugu]

I have the same doubts too, dose anybody can give a help? Thanks!

[LiangXin-gugu]

I know it now. According to the autor's article, these potential switching points relate to the continuous and nondifferentiable switching points in acceleration limit curve, and could be computed by the formula (39) in the article. In the function getSwitchingPoints(), it actually compute these potential switching points based on the formula (39) and formula (8).