smoothing path is not smooth enough

[charon-cheung]

points_per_unit: 25
skip_points: 0
use_end_conditions: True
use_middle_conditions: False

path_poses:
  - { x:  0.0, y:  0.0,    yaw: deg(135) }
  - { x:  1.0, y:  0.8415, yaw: deg(-180) }
  - { x:  2.0, y:  0.9093, yaw: deg(-180) }
  - { x:  3.0, y:  0.1411, yaw: deg(-180) }
  - { x:  4.0, y: -0.7568, yaw: deg(-180) }
  - { x:  5.0, y: -0.9589, yaw: deg(-180) }
  - { x:  6.0, y: -0.2794, yaw: deg(45.0) }

[gkouros]

Have you tried enabling middle conditions or tuning the other parameters?

And maybe have a look at the cited paper to understand how the method works and what to expect.

If you find any bugs, feel free to create a pull request. :)