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of the curve,
* ?_n is the normal curvature of the curve, and
* ?_r is the relative torsion (also called geodesic torsion) of the curve.

Darboux frame on a surface

This section specializes the case of the Darboux frame on a curve to the case when the curve is a principal curve of the surface (a line of curvature). In that case, since the principal curves are canonically associated to a surface at all non-umbilic

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