Smooth path using cubic spline interpolation.\n\nThe RefPoses input port accepts an M-by-3 signal that contains a vehicl

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Smooth path using cubic spline interpolation.\n\nThe RefPoses input port accepts an M-by-3 signal that contains a vehicle''s [x, y, theta] positions and heading angles in the reference path. The RefDirections inport accepts a signal that contains the driving direction of the input poses.\n\nThe SmoothPoses port outputs a K-by-3 signal containing the vehicle's positions and heading angles. The SmoothDirections port outputs a K-by-1 signal that contains the driving direction of the output poses, where K is the Number of output poses. The optional ports CumLengths and Curvatures output the cumulative path length and the path curvature along the smooth path, respectively


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