spline and smooth function 样条磨光函数
Usually, multivariate spline function is smooth on every point of net lines.
通常的多元样条函数要求在网线的每一点上，分片多项式的光滑性一致。
The three-order spline function was employed to smooth the discrete planning positions in the robot controller with open architecture. In order to avoid the vibration in the robot tracking motion.
在开放式机器人控制器中，用三次样条函数来平滑离散规划位置，以避免跟踪运动中的振荡。
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