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                                            LebronRemonJames

stitch path

[Trajectory Planning for B ERTHA -a Local, Continuous Method.pdf](https://github.com/LiJiangnanBit/path_optimizer/files/5799636/Trajectory.Planning.for.B.ERTHA.-a.Local.Continuous.Method.pdf) ![2021-01-12 11-00-22屏幕截图](https://user-images.githubusercontent.com/62731189/104264902-73071080-54c7-11eb-8633-970b91ad920b.png) i am not sure whether Apollo's method (just select planning start point without solid path which originate from history...