What is the specific calculation formula for the smoothness function in Matlab navigation toolbox?

I want to know how matlab built-in function smoothness (link:Smoothness of path - MATLAB smoothness - MathWorks China) calculate the smoothness of a generated path. Does anyone know the specific calculation process? Thanks!

Answer 1

[Torsten]

Did you read the reference article ?

[1] Lindemann, Stephen R., and Steven M. LaValle. "Simple and efficient algorithms for computing smooth, collision-free feedback laws over given cell decompositions." The International Journal of Robotics Research 28, no. 5. 2009, pp. 600-621.