Added validation for EmcPose to prevent NaN's from being assigned to trajectory planner output
Implemented temp copies of circles
Added temp copies to LineArc
Finished implementing temp copies for arc line
Completing the temp copy update
Corrected center offset calculation
Added additional debug info and renamed some variables
Comment and output cleanup
Fixed line consumption
Output and comment cleanup
Moved declaration closer
Fixes to tangent vector calculation with spiral
Temporarily suppress TC updates in debug output
switched debug messages in a few places to tc_debug
Fix for uninitialized line_length
Debug message changes
Added debug info for tangents
Added spiral effects to blend arc tangency check
Directly get radius from P to C1 and C2
Fixed nan's in tangent check, tangent angles much better now