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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. | |
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.
| 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.
| 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.