> then arguably the piecewise Euler spiral spline [...] is the answer It is the easiest "not wrong" answer, as it doesn't for example work with points on a cir

> then arguably the piecewise Euler spiral spline [...] is the answer It is the easiest "not wrong" answer, as it doesn't for example work with points on a circle either, where the (not only "intuitive") solution would be a circle. An Euler spiral is the answer on how to ("easily") "sufficient smoothly" connect 2 points with a given radius of curvature (and therefore tangent) at both points, and no constraints between those two points.