python

def frenet_to_cartesian3D(rs, rx, ry, rtheta, rkappa, rdkappa, s_condition, d_condition):
if fabs(rs - s_condition[0])>= 1.0e-6:
print(“Thereference point s and s_condition[0] don't match”)

cos_theta_r = cos(rtheta)sin_theta_r = sin(rtheta)x = rx - sin_theta_r * d_condition[0]y = ry + cos_theta_r * d_condition[0]one_minus_kappa_r_d = 1 - rkappa * d_condition[0]tan_delta_theta = d_condition[1] / one_minus_kappa_r_ddelta_theta = atan2(d_condition[1], one_minus_kappa_r_d)cos_delta_theta = cos(delta_theta)theta = NormalizeAngle(delta_theta + rtheta)kappa_r_d_prime = rdkappa * d_condition[0] + rkappa * d_condition[1]kappa = ((((d_condition[2] + kappa_r_d_prime * tan_delta_theta) *cos_delta_theta * cos_delta_theta) /(one_minus_kappa_r_d) +rkappa) *cos_delta_theta / (one_minus_kappa_r_d))````mermaid

graph LR
A[rectangle] – link --> B((circle))
A --> C(rounded rectangle)
B --> D{diamond}
C --> D

 d_dot = d_condition[1] * s_condition[1]v = sqrt(one_minus_kappa_r_d * one_minus_kappa_r_d * s_condition[1] *s_condition[1] + d_dot * d_dot)delta_theta_prime = one_minus_kappa_r_d / cos_delta_theta * (kappa) - rkappaa = (s_condition[2] * one_minus_kappa_r_d / cos_delta_theta +s_condition[1] * s_condition[1] / cos_delta_theta *(d_condition[1] * delta_theta_prime - kappa_r_d_prime))return x, y, v, a, theta, kappa````mermaidclassDiagramClass01 <|-- AveryLongClass : Cool<> Class01Class09 --> C2 : Where am i?Class09 --* C3Class09 --|> Class07Class07 : equals()Class07 : Object[] elementDataClass01 : size()Class01 : int chimpClass01 : int gorillaclass Class10 {>>service>>int idsize()}