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Smoothness of path

`smoothness(`

evaluates the
smoothness of the planned path. Values close to `pathMetricsObj`

)`0`

indicate a smoother
path. Straight-line paths return a value of `0`

.

`smoothness(`

returns individual smoothness calculations between each set of three poses on the path, in
the form of a (`pathMetricsObj`

,`'Type'`

,`'segments'`

)*n*–2)-element vector, where *n* is the
number of poses.

[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.