def calc_spline_course(x, y, ds=0.1):
    sp = Spline2D(x, y)
    s = list(np.arange(0, sp.s[(- 1)], ds))
    (rx, ry, ryaw, rk) = ([], [], [], [])
    for i_s in s:
        (ix, iy) = sp.calc_position(i_s)
        rx.append(ix)
        ry.append(iy)
        ryaw.append(sp.calc_yaw(i_s))
        rk.append(sp.calc_curvature(i_s))
    return (rx, ry, ryaw, rk, s)
def calc_spline_course(x, y, ds=0.1):
    sp = Spline2D(x, y)
    s = list(np.arange(0, sp.s[(- 1)], ds))
    (rx, ry, ryaw, rk) = ([], [], [], [])
    for i_s in s:
        (ix, iy) = sp.calc_position(i_s)
        rx.append(ix)
        ry.append(iy)
        ryaw.append(sp.calc_yaw(i_s))
        rk.append(sp.calc_curvature(i_s))
    return (rx, ry, ryaw, rk, s)