GeometryLimits Struct Reference

Thresholds for what counts as a geometrically usable path. More...

#include <armarx/navigation/algorithms/spfa/smoothing/PathGeometry.h>

Public Attributes

double minDirectionDot = 0.0
 Consecutive travel directions whose dot product is below this have reversed.
 
double minSegmentLength = 1.0
 Segments shorter than this [mm] carry no reliable direction, and the heading a downstream spline reads off them is numerical noise.
 

Detailed Description

Thresholds for what counts as a geometrically usable path.

Separate from the smoothing weights: these describe the result the optimizer has to produce, not how it gets there.

Definition at line 32 of file PathGeometry.h.

Member Data Documentation

◆ minDirectionDot

double minDirectionDot = 0.0

Consecutive travel directions whose dot product is below this have reversed.

Slightly above zero so a numerically flat vertex is not reported as a fold.

Definition at line 36 of file PathGeometry.h.

◆ minSegmentLength

double minSegmentLength = 1.0

Segments shorter than this [mm] carry no reliable direction, and the heading a downstream spline reads off them is numerical noise.

Definition at line 40 of file PathGeometry.h.


The documentation for this struct was generated from the following file: