Include rotation from A in G0

Hello,
I am trying to create a small cutting machine with 3 Axis - X Y linear axis and "A" rotate axis. I changed trivial kinematics module, calculate derivative of the way and calculate angle wit atan2 function. It works good but if the machine is moving with G0 i would like to set an angle of the target position (start angle of the next G1). Do I have to make changing in planner routine for the "look ahead"?
Greate thanks

I don't really understand the question.

What is it about your machine that means you can't run it as a simple XYA config?

I have found a video with a familar system : . The cutter position have to be tangential to the curve in each point. During G0 it must be move to the start angle position from next G1 or G2 ...

I think that Gcodetools for Inkscape can do this automatically.

Another option would be an input filter to modify the G-code.
I thought I had already done this once, but all I can find is a suggestion that it should be fairly easy.
forum.linuxcnc.org/38-general-linuxcnc-q...tion?start=10#127201

I doubt that it is work because unknowing angle for the next movement (for G1 yes but G2, G3 ..)

Ok i found the place. May be for somebody interesting

4516 STRAIGHT_TRAVERSE(block->line_number, end_x, end_y, end_z,
AA_end, BB_end, CC_end,
u_end, v_end, w_end);
settings->current_x = end_x;
settings->current_y = end_y;
settings->current_z = end_z;