TARE_planner的轨迹优化

[流樱j]

Each path segment is smoothed with a trajectory optimization method similar to [30], where the segment is modeled as a set of cubic splines connected at the viewpoints. Boundary conditions are applied at the viewpoints. Control points for the splines are placed on the initial paths given by the A* search and adjusted by a nonlinear optimization solver [31] to account for collision clearance and path smoothness.
请问各位大佬，论文中这里所说的每个路径段通过轨迹优化方法进行平滑对应的是源码中的哪部分

[刘乐去哪儿了]

这一部分源码里没有，平滑部分是给无人机探索用的，地面机器人不需要。