Symplectifying Biarcs

In this follow-up article to Symplectification of Circular Arcs and Arc Splines, biarc geometry is examined from a purely geometric point of view. Two given points together with their associated tangent vectors in the plane are sufficient to define two directed, consecutive circular arcs. However, there remains one degree of freedom to determine the join point of both arcs. There are various approaches to this in the literature. A novel one is presented here.