[ompl-users] Question about ompl::geometric::PathSimplifier::smoothBSpline

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Dear OMPL:
I recently read the OMPL source and have some doubts about the function ompl::geometric::PathSimplifier::smoothBSpline. The comment on the function says: Based on COMP450 2010 project of Yun Yu and Linda Hill (Rice University). So I went to check the relevant information, but I didn't find it online. So, I would like to ask if the COMP450 2010 project of Yun Yu and Linda Hill is open, or is there a similar paper and other literature that can help me understand the specific implementation principle of the function smoothBSpline?
Looking forward to your answer！