A path planner reads a file containing a path. This file must contain several lines of setpoints for position, velocity, acceleration and jerk.

//time          //jerk          //acceleration  //velocity      //position
8.0000000e-02   0.0000000e+00   0.0000000e+00   0.0000000e+00   0.0000000e+00
2.4000000e-01   1.0000000e+04   0.0000000e+00   0.0000000e+00   0.0000000e+00
8.0000000e-02   0.0000000e+00   2.4000000e+03   2.8800000e+02   2.3040000e+01
2.4000000e-01  -1.0000000e+04   2.4000000e+03   4.8000000e+02   5.3760000e+01

A path planner block has four output signals - jerk, acceleration, velocity, and position.