search

pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
730 stars 165 forks source link

filter_intermediate_positions documentation missing/lacking #186

Closed dsandber closed 4 months ago

dsandber commented 7 months ago

1) In the Ruckig documenation, where it says "Please find more information about these limitations [here]", the "here" link is broken

2) I had guessed that the parameter to filter_intermediate_positions specified how far the positions could be moved, however, while testing I saw the case where a parameter of 0.001 leads to a great position error (vs the intermediate waypoint positions) than specifying 0.01. If this is possible, what exactly does that parameter mean?

Thanks!

-Dan

dsandber commented 7 months ago

Dug into the source-code a bit and seems like this function doesn't move the waypoint positions, rather it eliminates ones that are under the threshold distance from the others -- is this right?

pantor commented 4 months ago

Sorry for the late response - yes you're assumption is correct.

I've added a short description to our docs here.