Plot the curve whose curvature is defined as a function of length: from 0 to s_f. The user can adjust the 4 polynomial coefficients (a,b,c,d), the final value of s (s_f) and the initial heading angle (psi0).
Peter Corke (2020). Polynomialspirals (https://www.mathworks.com/matlabcentral/fileexchange/66700-polynomialspirals), MATLAB Central File Exchange. Retrieved .
Inspired by: ebertolazzi/Clothoids