Here is a screen shot of an algorithm which can convert waypoints to smooth path trajectories for FRC motion planning.
The algorithm is optimized to execute very quickly, allowing near real-time path regeneration possible.
This is written in Java, doesn’t use any 3rd party libraries, and can run on any desktop, and even the RoboRio (minus any plotting).
The results produced can support C++ and Labview teams.
It includes a plotter as well so you can visualize the path in a world environment. There are some drawbacks, check out the github documentation for more info and how to get started.
Please read the full thread and get a link to the code here: