This ROS package retrieves an interpolated path using the Akima splines. The raw path can be a multi-valued function.
[Akima, October 1970] http://www.leg.ufpr.br/lib/exe/fetch.php/wiki:internas:biblioteca:akima.pdf
TODO:
- Support for closed paths
J. López, C. Otero, R. Sanz, E. Paz, E. Molinos and R. Barea, "A new approach to local navigation for autonomous driving vehicles based on the curvature velocity method," 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 1751-1757, doi: 10.1109/ICRA.2019.8794380.