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 _    _     _____    _    _     _____      _____  
| |  | ||  |  ___|| | |  | ||  |  ___||   / ___// 
| |/\| ||  | ||__   | |/\| ||  | ||__     \___ \\ 
|  /\  ||  | ||__   |  /\  ||  | ||__     /    // 
|_// \_||  |_____|| |_// \_||  |_____||  /____//  
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Text this: Clothoid spline based path planning