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MoveP will move the tool in linear motion at constant speed with circular blends. The size of the blend radius is per default a shared value for all the waypoint. A smaller value will make the path turn sharper whereas a higher value will make the path smoother. reference

The Pilz Industrial Motion Planner provides such an implementation in MoveIt. reference prior question

A specialized MoveIt capability takes a moveit_msgs::MotionSequenceRequest as input. The request contains a list of subsequent goals as described above and an additional blend_radius parameter. If the given blend_radius in meter is greater than zero, the corresponding trajectory is merged together with the following goal such that the robot does not stop at the current goal