MATHSM: medial axis transform toward high speed machining of pockets

This work addresses and fully resolves the need for a C1 continuous toolpath in HSM and offers MATHSM, a C1 continuous toolpath for arbitrary C1 continuous pockets. MATHSM automatically generates a C1 continuous toolpath that consists of primarily circular arcs while maximizing the radii of the generated arcs and, therefore, minimizing the exerted radial acceleration. MATHSM is especially suited for machining of elongated narrow pockets.