clc,clear
r = 3;
t = linspace(0,10)';
x = r*cos(t);
y = r*sin(t);
z = sin(1*t);
t1 = t(2:end) - diff(t)/2;
dv = diff([x y z])./diff([t t t]);
d2v= diff(dv)./diff([t1 t1 t1]);
dv = 1/2*( dv(1:end-1,:) + dv(2:end,:) );
[dx,dy,dz] = deal( dv(:,1),dv(:,2),dv(:,3) );
[d2x,d2y,d2z] = deal( d2v(:,1),d2v(:,2),d2v(:,3) );
kk = (d2z.*dy - d2y.*dz).^2 + (d2x.*dz - d2z.*dx).^2 + (d2y.*dx - d2x.*dy).^2;
kk = sqrt(kk) ./ (dx.^2+dy.^2+dz.^2).^(3/2);
RR1 = 1./kk;
plot(t(2:end-1),RR1)
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