Composite base curve of a pancake coil: inner lead + planar spiral + outer lead.
The whole curve is parametrized by its arc length s in [0, L]:
[0, L_in] inner lead (from the inner connector into the winding)
[L_in, L_in + L_sp] planar spiral
[L_in + L_sp, L] outer lead (from the winding to the outer connector)
Both leads are *described* in the direction that leaves the coil (that is the
natural way to think about a terminal: "go straight, twist by 90 degrees, bend
up, go straight"). For the inner lead this description is integrated
backwards from the start of the spiral with the leaving frame
T_L = -T(0), n_L = -n(0), b_L = b(0)
so that the tape width b still points along +z when the description starts.
The resulting piece is then reversed to obtain the forward parametrization.
Reversal flips the sign of the odd derivatives (v, jerk), of T and n and of
kappa_n, and keeps a, b, kappa_g and tau (see the docstring of `_inner`).