An efficient path smoothing algorithm that has analytic solution. This algorithm provides curvature continuous path using cubic Bezier curves. This algorithms allows to have limits on maximum curvature of the path.
Hello!
Thanks for this implementation. I am a little confused on why this step is needed? I could not find this step anywhere in the paper. % build transformation matrix to transform coordinates % from global to local and local to global rotationMat = [ut,un,ub]; positionMat = w1; transformMat = [[rotationMat;zeros(1,3)],[positionMat;1]]; transformMatInv = [[rotationMat';zeros(1,3)],[-rotationMat'*positionMat;1]];