Hi Dave,
   Thanks for the link! You're the second person in a short span of time to
direct me to that thesis in a very short time.  I had shied away from
spline-based methods mostly because of the additional burden of converting
lines and arcs to waypoints while holding a path tolerance.  Still, in the
long term, this method seems to have a lot of attractive properties.

Thanks,
Rob


On Sun, Sep 29, 2013 at 12:27 AM, dave <[email protected]> wrote:

> www.sites.mech.ubc.ca/~caris/Publications/sonja.pdf
>
>
>
>
>
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