G1 and G2 fitting with clothoids, spline of clothoids, circle arc and biarc.
git clone https://github.com/krcwrhvgyxzqelljes/Clothoids.git --recursive-submodules
Mention there is a typo for recursive, it says -recursive, must be --recursive Online documentation here http://ebertolazzi.github.io/Clothoids/
To setup submodules
ruby setup.rb
to compile
rake