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 _    _     ______   _    _      ___      _  __  
| || | ||  /_   _// | |  | ||   / _ \\   | |/ // 
| || | ||   -| ||-  | |/\| ||  | / \ ||  | ' //  
| \\_/ ||   _| ||_  |  /\  ||  | \_/ ||  | . \\  
 \____//   /_____// |_// \_||   \___//   |_|\_\\ 
  `---`    `-----`  `-`   `-`   `---`    `-` --`

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Text this: Clothoid spline based path planning