made step-size smaller for the optimization in addSpiralBeginning/End (for some initial/end-configs it converged to a non-optimal value (local minimum) )
fixed calculation for DubinsAirplaneSolution['psi_e']
Feel free to apply all or only part of the pull request or totally reject it.
I think I fixed some errors:
Feel free to apply all or only part of the pull request or totally reject it.