Carla autonomous vehicle motion planning

Compare two motion planning method
1. Templates based RRT
Hu, Xuemin, et al. "Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles." Mechanical Systems and Signal Processing 100 (2018): 482-500.
2. Spline based discrete optimization method
Ma, Liang, et al. "Efficient sampling-based motion planning for on-road autonomous driving." IEEE Transactions on Intelligent Transportation Systems 16.4 (2015): 1961-1976.

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Hey can you please provide me the source code for this ?