// Trajectory smoothing when trajectorySmoothing value is true
List <Vector3> PathSmoothing(List <Vector3> inp_way)
{
if (trajectorySmoothing)
{
//Interpolation with the Katmull-Rom spline
CatmullRom spline = new CatmullRom(inp_way, spaceFragmentation);
return(spline.GetSpline());
//An alternative variant of interpolation using the Bézier spline
// BezierInterpolation Bezier_spline = new BezierInterpolation(inp_way,spaceFragmentation);
// Bezier_spline.calc_curves();
// return Bezier_spline.BuildSpline();
}
else
{
return(inp_way);
}
}