Hybrid Arcs

For skills V2, I need to execute some specific arcs, where it drives into the goals. While the paths can be represented by functions such as Beziers or Hermites, it would be nice to use something simpler.

The idea of meshing two arcs together seemed like an excellent plan - you get the simplicity of an arc with the versatility of specifying start and end angles:

So, I added it into the code. The hardest part was finding the 1st and 2nd derivative and curvature of the interpolated arc.

And it worked great for the skills run!