function [curvature] = UjkSeek(xj, yj, xk, yk, thetak)
%UNTITLED2 Summary of this function goes here
%   Detailed explanation goes here
    alpha = .02;
    r0 =.1;
    
    rlength = sqrt((xj-xk)^2 + (yj-yk)^2);
    thetar = atan((yj-yk)/(xj-xk)) - thetak + pi;
    if (xj - xk) < 0
        thetar = thetar + pi;
    end
    
    f = alpha*(1 - (r0/rlength)^2);
    curvature = -f*(sin(thetar));
end